pid_gains_setter.cpp
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29 
31 
32 namespace control_toolbox {
33 
35 {
37 }
38 
40 {
41  assert(pid);
42  pids_.push_back(pid);
43  return *this;
44 }
45 
47 {
48  node_ = n;
50 }
51 
52 bool PidGainsSetter::setGains(control_toolbox::SetPidGains::Request &req,
53  control_toolbox::SetPidGains::Response &resp)
54 {
55  for (size_t i = 0; i < pids_.size(); ++i)
56  pids_[i]->setGains(req.p, req.i, req.d, req.i_clamp, -req.i_clamp, req.antiwindup);
57  node_.setParam("p", req.p);
58  node_.setParam("i", req.i);
59  node_.setParam("d", req.d);
60  node_.setParam("i_clamp", req.i_clamp);
61  node_.setParam("antiwindup", req.antiwindup);
62  return true;
63 }
64 
65 }
PidGainsSetter & add(Pid *pid)
Adds a Pid object.
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
void advertise(const ros::NodeHandle &n)
Advertises the "set_gains" service, initializing the PidGainsSetter.
A basic pid class.
Definition: pid.h:117
void setParam(const std::string &key, const XmlRpc::XmlRpcValue &v) const
bool setGains(control_toolbox::SetPidGains::Request &req, control_toolbox::SetPidGains::Response &resp)
Sets up services for quickly changing the gains for a control_toolbox::Pid Pid object.


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed May 11 2022 02:11:48