/*
 * node.cpp
 *
 *  Created on: Jul 30, 2012
 *      Author: Berk Calli
 *      Organization: Delft Biorobotics Lab., Delft University of Technology
 *		Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl
 *
 * Node for approximation based extremum seeking control
 */

#include <esc_approx/approx_esc_1d.h>
#include "esc_ros/esc_ros.h"

int main(int argc, char **argv) {

	ros::init(argc, argv, "approx_esc_1d");
	ros::NodeHandle n("~");

	double k_grad,init_vel;
	int data_size, poly_degree,sampling;
	if (!n.getParam("data_size", data_size)){
		ROS_WARN("[approx_esc_1d]: Failed to get the parameter data_size from the parameter server. Using the default value.");
		data_size = 0;
	}
	if (!n.getParam("poly_degree", poly_degree)){
		ROS_WARN("[approx_esc_1d]: Failed to get the parameter poly_degree from the parameter server. Using the default value.");
		poly_degree = 0;
	}
	if (!n.getParam("k_grad", k_grad)){
		ROS_WARN("[approx_esc_1d]: Failed to get the parameter k_grad from the parameter server. Using the default value.");
		k_grad = 0;
	}
	if (!n.getParam("init_vel", init_vel)){
		ROS_WARN("[approx_esc_1d]: Failed to get the parameter init_vel from the parameter server. Using the default value.");
		init_vel = 0;
	}
	if (!n.getParam("sampling", sampling)){
		ROS_WARN("[approx_esc_1d]: Failed to get the parameter sampling from the parameter server. Using the default value.");
		sampling = 0;
	}

	ESCROS esc_ros(&n);
	ApproxESC1D* approx_esc_1d = new ApproxESC1D(data_size,poly_degree,k_grad,init_vel,sampling);
	esc_ros.init(approx_esc_1d);
	esc_ros.spin();

	return 0;
}