Program Listing for File pid_ros.hpp
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#ifndef CONTROL_TOOLBOX__PID_ROS_HPP_
#define CONTROL_TOOLBOX__PID_ROS_HPP_
#include <memory>
#include <string>
#include "control_msgs/msg/pid_state.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/node.hpp"
#include "realtime_tools/realtime_buffer.h"
#include "realtime_tools/realtime_publisher.h"
#include "control_toolbox/pid.hpp"
#include "control_toolbox/visibility_control.hpp"
namespace control_toolbox
{
class CONTROL_TOOLBOX_PUBLIC PidROS
{
public:
template<class NodeT>
explicit PidROS(
std::shared_ptr<NodeT> node_ptr,
std::string prefix = std::string(""),
bool prefix_is_for_params = false
)
: PidROS(
node_ptr->get_node_base_interface(),
node_ptr->get_node_logging_interface(),
node_ptr->get_node_parameters_interface(),
node_ptr->get_node_topics_interface(),
prefix, prefix_is_for_params)
{
}
PidROS(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
std::string prefix = std::string(""), bool prefix_is_for_params = false);
void initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup);
bool initPid();
void reset();
double computeCommand(double error, rclcpp::Duration dt);
double computeCommand(double error, double error_dot, rclcpp::Duration dt);
Pid::Gains getGains();
void setGains(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);
void setGains(const Pid::Gains & gains);
void setCurrentCmd(double cmd);
double getCurrentCmd();
std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> getPidStatePublisher();
void getCurrentPIDErrors(double & pe, double & ie, double & de);
void printValues();
inline rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr
getParametersCallbackHandle()
{
return parameter_callback_;
}
protected:
std::string topic_prefix_;
std::string param_prefix_;
private:
void setParameterEventCallback();
void publishPIDState(double cmd, double error, rclcpp::Duration dt);
void declareParam(const std::string & param_name, rclcpp::ParameterValue param_value);
bool getDoubleParam(const std::string & param_name, double & value);
bool getBooleanParam(const std::string & param_name, bool & value);
void initialize(std::string topic_prefix);
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_;
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params_;
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::PidState>> rt_state_pub_;
std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> state_pub_;
Pid pid_;
};
} // namespace control_toolbox
#endif // CONTROL_TOOLBOX__PID_ROS_HPP_