Last change
on this file since 6 was
5,
checked in by wcaarls, 12 years ago
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Imported extremum_seeking at revision 987
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File size:
1.1 KB
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1 | /* |
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2 | * node.cpp |
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3 | * |
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4 | * Created on: Jul 30, 2012 |
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5 | * Author: Berk Calli |
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6 | * Organization: Delft Biorobotics Lab., Delft University of Technology |
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7 | * Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl |
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8 | * |
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9 | * node for sliding mode extremum seeking control algorithm with perodic driving signal. |
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10 | */ |
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11 | |
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12 | #include "esc_sm/sm_esc_1d.h" |
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13 | #include "ros/ros.h" |
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14 | #include "esc_ros/esc_ros.h" |
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15 | |
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16 | int main(int argc, char **argv) { |
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17 | |
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18 | ros::init(argc, argv, "sm_esc_1d"); |
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19 | ros::NodeHandle n("~"); |
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20 | double rho,alpha,k; |
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21 | |
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22 | if (!n.getParam("rho", rho)){ |
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23 | ROS_WARN("[sm_esc_1d]: Failed to get the parameter rho from the parameter server. Using the default value."); |
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24 | rho = 0; |
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25 | } |
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26 | if (!n.getParam("alpha", alpha)){ |
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27 | ROS_WARN("[sm_esc_1d]: Failed to get the parameter alpha from the parameter server. Using the default value."); |
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28 | alpha = 0; |
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29 | } |
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30 | if (!n.getParam("k", k)){ |
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31 | ROS_WARN("[sm_esc_1d]: Failed to get the parameter k from the parameter server. Using the default value."); |
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32 | k = 0; |
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33 | } |
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34 | |
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35 | ESCROS esc_ros(&n); |
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36 | SMESC1D* sm_esc_1d = new SMESC1D(rho,k,alpha); |
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37 | esc_ros.init(sm_esc_1d); |
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38 | esc_ros.spin(); |
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39 | |
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40 | return 0; |
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41 | } |
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