pid_gains_setter.cpp
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029 
00030 #include "control_toolbox/pid_gains_setter.h"
00031 
00032 namespace control_toolbox {
00033 
00034 PidGainsSetter::~PidGainsSetter()
00035 {
00036   serve_set_gains_.shutdown();
00037 }
00038 
00039 PidGainsSetter& PidGainsSetter::add(Pid *pid)
00040 {
00041   assert(pid);
00042   pids_.push_back(pid);
00043   return *this;
00044 }
00045 
00046 void PidGainsSetter::advertise(const ros::NodeHandle &n)
00047 {
00048   node_ = n;
00049   serve_set_gains_ = node_.advertiseService("set_gains", &PidGainsSetter::setGains, this);
00050 }
00051 
00052 bool PidGainsSetter::setGains(control_toolbox::SetPidGains::Request &req,
00053                               control_toolbox::SetPidGains::Response &resp)
00054 {
00055   for (size_t i = 0; i < pids_.size(); ++i)
00056     pids_[i]->setGains(req.p, req.i, req.d, req.i_clamp, -req.i_clamp);
00057   node_.setParam("p", req.p);
00058   node_.setParam("i", req.i);
00059   node_.setParam("d", req.d);
00060   node_.setParam("i_clamp", req.i_clamp);
00061   return true;
00062 }
00063 
00064 }


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed Aug 26 2015 11:09:13