Changeset 18 for trunk/extremum_seeking/esc_nn/src/node_2d.cpp

Timestamp:

01/03/13 15:27:56 (12 years ago)

Author:

wcaarls

Message:

Updated extremum_seeking to revision 1177

File:

• trunk/extremum_seeking/esc_nn/src/node_2d.cpp (modified) (2 diffs)

trunk/extremum_seeking/esc_nn/src/node_2d.cpp

@@ -18 +18 @@
         ros::NodeHandle n("~");
 
-        double A, B, M, ddelta1, ddelta2, ddelta3, delta, period;
+        double A, B, M, ddelta1, ddelta2, ddelta3, delta, period,stoping_min_val;
+        int stopping_cycle_number;
         if (!n.getParam("A", A)){
                 ROS_WARN("[nn_esc_2d]: Failed to get the parameter A from the parameter server. Using the default value.");
@@ -52 +53 @@
         }
 
+        if (!n.getParam("stopping_condition/cycle_number", stopping_cycle_number)){
+                ROS_WARN("[nn_esc_1D]: Failed to get the parameter stopping_condition/cycle_number from the parameter server. Using the default value.");
+                stopping_cycle_number = 0;
+        }
+
+        if (!n.getParam("stopping_condition/min_val_change_per_cycle", stoping_min_val)){
+                ROS_WARN("[nn_esc_1D]: Failed to get the parameter stopping_condition/min_val_change_per_cycle from the parameter server. Using the default value.");
+                stoping_min_val = 0;
+        }
+
         ESCROS esc_ros(&n);
-        NNESC2D* nn_esc_2d = new NNESC2D(A,M,B,ddelta1,ddelta2,ddelta3,delta,period);
+        NNESC2D* nn_esc_2d = new NNESC2D(A,M,B,ddelta1,ddelta2,ddelta3,delta,period,stopping_cycle_number,stoping_min_val);
         esc_ros.init(nn_esc_2d);
         esc_ros.spin();