pid_gains_setter.h
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29 
30 // Exposes a ROS interface for tuning a set of pid controllers.
31 //
32 // Author: Stuart Glaser
33 
34 #ifndef CONTROL_TOOLBOX__PID_GAINS_SETTER_H
35 #define CONTROL_TOOLBOX__PID_GAINS_SETTER_H
36 
37 #include <vector>
38 #include <string>
39 #include "ros/node_handle.h"
40 #include "control_toolbox/pid.h"
41 #include "control_toolbox/SetPidGains.h"
42 
43 namespace control_toolbox {
44 
75 {
76 public:
79 
85  PidGainsSetter& add(Pid *pid);
86 
90  void advertise(const ros::NodeHandle &n);
91 
95  void advertise(const std::string &ns) { advertise(ros::NodeHandle(ns)); }
96 
97  bool setGains(control_toolbox::SetPidGains::Request &req,
98  control_toolbox::SetPidGains::Response &resp);
99 
100 private:
103  std::vector<Pid*> pids_;
104 };
105 
106 }
107 
108 #endif
PidGainsSetter & add(Pid *pid)
Adds a Pid object.
void advertise(const ros::NodeHandle &n)
Advertises the "set_gains" service, initializing the PidGainsSetter.
A basic pid class.
Definition: pid.h:117
void advertise(const std::string &ns)
Advertises the "set_gains" service, initializing the PidGainsSetter.
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 Mon Jun 10 2019 12:56:32