source: trunk/extremum_seeking/esc_perturb/src/node.cpp @ 30

Last change on this file since 30 was 5, checked in by wcaarls, 12 years ago

Imported extremum_seeking at revision 987

File size: 2.2 KB
Line 
1/*
2 * node.cpp
3 *
4 *  Created on: Aug 1, 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 perturbation based extremum seeking control
10 */
11
12
13#include <esc_perturb/perturb_esc_nd.h>
14#include "esc_ros/esc_ros.h"
15
16int main(int argc, char **argv) {
17
18        ros::init(argc, argv, "perturb_esc_nd");
19        ros::NodeHandle n("~");
20
21        double sin_amp,sin_freq,corr_gain,high_pass_pole,low_pass_pole,comp_pole,comp_zero,period;
22
23        if (!n.getParam("sin_amp", sin_amp)){
24                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter sin_amp from the parameter server. Using the default value.");
25                sin_amp = 0;
26        }
27        if (!n.getParam("sin_freq", sin_freq)){
28                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter sin_freq from the parameter server. Using the default value.");
29                sin_freq = 0;
30        }
31        if (!n.getParam("corr_gain", corr_gain)){
32                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter corr_gain from the parameter server. Using the default value.");
33                corr_gain = 0;
34        }
35        if (!n.getParam("high_pass_pole", high_pass_pole)){
36                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter high_pass_pole from the parameter server. Using the default value.");
37                high_pass_pole = 0;
38        }
39        if (!n.getParam("low_pass_pole", low_pass_pole)){
40                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter low_pass_pole from the parameter server. Using the default value.");
41                low_pass_pole = 0;
42        }
43        if (!n.getParam("comp_pole", comp_pole)){
44                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter comp_pole from the parameter server. Using the default value.");
45                comp_pole = 0;
46        }
47        if (!n.getParam("comp_zero", comp_zero)){
48                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter comp_zero from the parameter server. Using the default value.");
49                comp_zero = 0;
50        }
51        if (!n.getParam("period", period)){
52                ROS_WARN("[perturb_esc_nd]: Failed to get the parameter period from the parameter server. Using the default value.");
53                period = 0;
54        }
55
56        ESCROS esc_ros(&n);
57        PerturbESCND* perturb_esc_nd = new PerturbESCND(sin_amp,sin_freq,corr_gain,high_pass_pole,low_pass_pole,comp_zero,comp_pole,period);
58        esc_ros.init(perturb_esc_nd);
59        esc_ros.spin();
60
61        return 0;
62}
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