source: trunk/extremum_seeking/esc_sm/src/node_1d.cpp

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

Imported extremum_seeking at revision 987

File size: 1.1 KB
Line 
1/*
2 * node.cpp
3 *
4 *  Created on: Jul 30, 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 sliding mode extremum seeking control algorithm with perodic driving signal.
10 */
11
12#include "esc_sm/sm_esc_1d.h"
13#include "ros/ros.h"
14#include "esc_ros/esc_ros.h"
15
16int main(int argc, char **argv) {
17
18        ros::init(argc, argv, "sm_esc_1d");
19        ros::NodeHandle n("~");
20        double rho,alpha,k;
21
22        if (!n.getParam("rho", rho)){
23                ROS_WARN("[sm_esc_1d]: Failed to get the parameter rho from the parameter server. Using the default value.");
24                rho = 0;
25        }
26        if (!n.getParam("alpha", alpha)){
27                ROS_WARN("[sm_esc_1d]: Failed to get the parameter alpha from the parameter server. Using the default value.");
28                alpha = 0;
29        }
30        if (!n.getParam("k", k)){
31                ROS_WARN("[sm_esc_1d]: Failed to get the parameter k from the parameter server. Using the default value.");
32                k = 0;
33        }
34
35        ESCROS esc_ros(&n);
36        SMESC1D* sm_esc_1d = new SMESC1D(rho,k,alpha);
37        esc_ros.init(sm_esc_1d);
38        esc_ros.spin();
39
40        return 0;
41}
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