zero_order_hold.hpp File Reference

Zero-Order-Hold for PID input term. More...

#include <cstdint>
#include <localization_msgs/msg/odometry.hpp>
#include <memory>
#include <mutex>
#include <p_pid_controller_msgs/msg/base_axes.hpp>
#include <planner_msgs/msg/wrench_plan.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include <rclcpp_lifecycle/lifecycle_publisher.hpp>
#include <timer/timeout.hpp>

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Classes
class	planner::wrench_planner::ZeroOrderHold

Namespaces
namespace	planner
namespace	planner::wrench_planner

Typedefs
using	planner::wrench_planner::CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Enumerations
enum class	planner::wrench_planner::Hold_Z_Mode { planner::wrench_planner::DEPTH = 0 , planner::wrench_planner::ALTITUDE = 1 }

Detailed Description

Zero-Order-Hold for PID input term.

Author

R.Ohnishi

Date

2025/11/26

目標値が来ていないとき，タイムアウトするまで最後の司令を保持する