/*
 * node.cpp
 *
 *  Created on: Jul 30, 2012
 *      Author: Berk Calli
 *      Organization: Delft Biorobotics Lab., Delft University of Technology
 *		Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl
 *
 *	node for sliding mode extremum seeking control algorithm with perodic driving signal.
 */

#include "esc_sm/sm_esc_1d.h"
#include "ros/ros.h"
#include "esc_ros/esc_ros.h"

int main(int argc, char **argv) {

	ros::init(argc, argv, "sm_esc_1d");
	ros::NodeHandle n("~");
	double rho,alpha,k;

	if (!n.getParam("rho", rho)){
		ROS_WARN("[sm_esc_1d]: Failed to get the parameter rho from the parameter server. Using the default value.");
		rho = 0;
	}
	if (!n.getParam("alpha", alpha)){
		ROS_WARN("[sm_esc_1d]: Failed to get the parameter alpha from the parameter server. Using the default value.");
		alpha = 0;
	}
	if (!n.getParam("k", k)){
		ROS_WARN("[sm_esc_1d]: Failed to get the parameter k from the parameter server. Using the default value.");
		k = 0;
	}

	ESCROS esc_ros(&n);
	SMESC1D* sm_esc_1d = new SMESC1D(rho,k,alpha);
	esc_ros.init(sm_esc_1d);
	esc_ros.spin();

	return 0;
}