netft_example_controllers: netft_example_controllers: netft_example

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00034 
00035 #include <ros/ros.h>
00036 #include "pr2_controller_interface/controller.h"
00037 #include "realtime_tools/realtime_publisher.h"
00038 #include "netft_example_controllers/ForceTorqueStats.h"
00039 
00040 namespace netft_example_controllers
00041 {
00042 
00043 class NetFTExampleController : public pr2_controller_interface::Controller
00044 {
00045 public:
00046   NetFTExampleController();
00047   ~NetFTExampleController();
00048   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &nh);
00049   void starting();
00050   void update();
00051 
00052 private:
00054   double max_force_;
00056   double max_torque_;
00057 
00059   pr2_hardware_interface::AnalogIn *analog_in_;
00060 
00062   realtime_tools::RealtimePublisher<netft_example_controllers::ForceTorqueStats> pub_;
00063 
00065   int pub_cycle_count_;
00066   bool should_publish_;
00067 };
00068 
00069 
00070 }//namespace netft_example_controllers
netft_example_controller.h
