source: trunk/extremum_seeking/esc_approx/src/node_2d.cpp @ 5

Last change on this file since 5 was 5, checked in by wcaarls, 12 years ago

Imported extremum_seeking at revision 987

File size: 1.4 KB
Line 
1/*
2 * node.cpp
3 *
4 *  Created on: Jul 31, 2012
5 *      Author: Berk Calli
6 *      Organization: Delft Biorobotics Lab., Delft University of Technology
7 *              Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl
8 *
9 *      Node for two dimensional approximation based network extremum seeking control
10 */
11
12#include <esc_approx/approx_esc_2d.h>
13#include "esc_ros/esc_ros.h"
14
15int main(int argc, char **argv) {
16
17        ros::init(argc, argv, "approx_esc_2d");
18        ros::NodeHandle n("~");
19
20        int data_size, sampling;
21        double k_grad, init_vel;
22        if (!n.getParam("data_size", data_size)){
23                ROS_WARN("[approx_esc_2d]: Failed to get the parameter data_size from the parameter server. Using the default value.");
24                data_size = 0;
25        }
26        if (!n.getParam("sampling", sampling)){
27                ROS_WARN("[approx_esc_2d]: Failed to get the parameter sampling from the parameter server. Using the default value.");
28                sampling = 0;
29        }
30        if (!n.getParam("k_grad", k_grad)){
31                ROS_WARN("[approx_esc_2d]: Failed to get the parameter k_grad from the parameter server. Using the default value.");
32                k_grad = 0;
33        }
34        if (!n.getParam("init_vel", init_vel)){
35                ROS_WARN("[approx_esc_2d]: Failed to get the parameter init_vel from the parameter server. Using the default value.");
36                init_vel = 0;
37        }
38
39        ESCROS esc_ros(&n);
40        ApproxESC2D* approx_esc_2d = new ApproxESC2D(data_size,k_grad,init_vel,sampling);
41        esc_ros.init(approx_esc_2d);
42        esc_ros.spin();
43
44        return 0;
45}
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