RosPIDControllerProxy.h
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1 //| This file is a part of the ORCA framework.
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3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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9 //| ORCA is a whole-body reactive controller framework for robotics.
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36 
37 #pragma once
38 
40 
41 namespace orca_ros
42 {
43  namespace common
44  {
46  {
47  public:
48  RosPIDControllerProxy( const std::string& robot_name,
49  const std::string& controller_name,
50  const std::string& task_name);
51  virtual ~RosPIDControllerProxy();
52 
53  public:
54  int getSize();
55  void setProportionalGain(const Eigen::VectorXd& P_gain);
56  Eigen::VectorXd getProportionalGain();
57  void setIntegralGain(const Eigen::VectorXd& I_gain);
58  Eigen::VectorXd getIntegralGain();
59  void setWindupLimit(const Eigen::VectorXd& windup_lim);
60  Eigen::VectorXd getWindupLimit();
61  void setDerivativeGain(const Eigen::VectorXd& D_gain);
62  Eigen::VectorXd getDerivativeGain();
63 
64  private:
65  ros::ServiceClient sc_getSize_;
66  ros::ServiceClient sc_setProportionalGain_;
67  ros::ServiceClient sc_getProportionalGain_;
68  ros::ServiceClient sc_setIntegralGain_;
69  ros::ServiceClient sc_getIntegralGain_;
70  ros::ServiceClient sc_setWindupLimit_;
71  ros::ServiceClient sc_getWindupLimit_;
72  ros::ServiceClient sc_setDerivativeGain_;
73  ros::ServiceClient sc_getDerivativeGain_;
74  };
75  } // namespace common
76 } // namespace orca_ros
void setProportionalGain(const Eigen::VectorXd &P_gain)
Definition: RosPIDControllerProxy.cc:35
Eigen::VectorXd getWindupLimit()
Definition: RosPIDControllerProxy.cc:89
void setWindupLimit(const Eigen::VectorXd &windup_lim)
Definition: RosPIDControllerProxy.cc:79
Definition: RosWrapperBase.h:50
Eigen::VectorXd getDerivativeGain()
Definition: RosPIDControllerProxy.cc:111
int getSize()
Definition: RosPIDControllerProxy.cc:25
virtual ~RosPIDControllerProxy()
Definition: RosPIDControllerProxy.cc:21
Definition: RosCartesianAccelerationPID.h:42
Eigen::VectorXd getIntegralGain()
Definition: RosPIDControllerProxy.cc:67
Definition: RosPIDControllerProxy.h:45
RosPIDControllerProxy(const std::string &robot_name, const std::string &controller_name, const std::string &task_name)
Definition: RosPIDControllerProxy.cc:6
Eigen::VectorXd getProportionalGain()
Definition: RosPIDControllerProxy.cc:45
void setIntegralGain(const Eigen::VectorXd &I_gain)
Definition: RosPIDControllerProxy.cc:57
void setDerivativeGain(const Eigen::VectorXd &D_gain)
Definition: RosPIDControllerProxy.cc:101