RosPIDController.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 
39 #include "orca/common/PIDController.h"
41 
42 namespace orca_ros
43 {
44  namespace common
45  {
47  {
48  public:
49  RosPIDController( const std::string& robot_name,
50  const std::string& controller_name,
51  const std::string& task_name,
52  std::shared_ptr<orca::common::PIDController> pid);
53  virtual ~RosPIDController();
54 
55  private:
56  bool getSizeService( orca_ros::GetInt::Request& req,
57  orca_ros::GetInt::Response& res
58  );
59  bool setProportionalGainService(orca_ros::SetMatrix::Request& req,
60  orca_ros::SetMatrix::Response& res
61  );
62  bool getProportionalGainService(orca_ros::GetMatrix::Request& req,
63  orca_ros::GetMatrix::Response& res
64  );
65  bool setIntegralGainService( orca_ros::SetMatrix::Request& req,
66  orca_ros::SetMatrix::Response& res
67  );
68  bool getIntegralGainService( orca_ros::GetMatrix::Request& req,
69  orca_ros::GetMatrix::Response& res
70  );
71  bool setWindupLimitService( orca_ros::SetMatrix::Request& req,
72  orca_ros::SetMatrix::Response& res
73  );
74  bool getWindupLimitService( orca_ros::GetMatrix::Request& req,
75  orca_ros::GetMatrix::Response& res
76  );
77  bool setDerivativeGainService( orca_ros::SetMatrix::Request& req,
78  orca_ros::SetMatrix::Response& res
79  );
80  bool getDerivativeGainService( orca_ros::GetMatrix::Request& req,
81  orca_ros::GetMatrix::Response& res
82  );
83 
84  private:
85  std::shared_ptr<orca::common::PIDController> pid_;
86 
87  ros::ServiceServer ss_getSize_;
88  ros::ServiceServer ss_setProportionalGain_;
89  ros::ServiceServer ss_getProportionalGain_;
90  ros::ServiceServer ss_setIntegralGain_;
91  ros::ServiceServer ss_getIntegralGain_;
92  ros::ServiceServer ss_setWindupLimit_;
93  ros::ServiceServer ss_getWindupLimit_;
94  ros::ServiceServer ss_setDerivativeGain_;
95  ros::ServiceServer ss_getDerivativeGain_;
96  };
97  } // namespace common
98 } // namespace orca_ros
Definition: RosWrapperBase.h:50
virtual ~RosPIDController()
Definition: RosPIDController.cc:23
Definition: RosCartesianAccelerationPID.h:42
RosPIDController(const std::string &robot_name, const std::string &controller_name, const std::string &task_name, std::shared_ptr< orca::common::PIDController > pid)
Definition: RosPIDController.cc:5
Definition: RosPIDController.h:46