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gazebo_ros_power_monitor.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef PR2_GAZEBO_PLUGINS_ROS_POWER_MONITOR_H
#define PR2_GAZEBO_PLUGINS_ROS_POWER_MONITOR_H

#include <map>
#include <vector>
#include <boost/thread/mutex.hpp>
#include <gazebo/Controller.hh>
#include <gazebo/Entity.hh>
#include <gazebo/Model.hh>
#include <gazebo/Param.hh>
#include <ros/ros.h>
#include <pr2_msgs/PowerState.h>
#include <pr2_gazebo_plugins/PlugCommand.h>

namespace gazebo {

class XMLConfigNode;


class GazeboRosPowerMonitor : public Controller
{
public:
    GazeboRosPowerMonitor(Entity* parent);
    virtual ~GazeboRosPowerMonitor();

protected:
    // Inherited from Controller
    virtual void LoadChild(XMLConfigNode* node);
    virtual void InitChild();
    virtual void UpdateChild();
    virtual void FiniChild();

private:
    void SetPlug(const pr2_gazebo_plugins::PlugCommandConstPtr& plug_msg);

private:
    Model* model_;
    double curr_time_;
    double last_time_;

    ParamT<std::string>* robot_namespace_param_;
    ParamT<std::string>* power_state_topic_param_;

    ros::NodeHandle* rosnode_;
    ros::Subscriber  plugged_in_sub_;
    ros::Publisher   power_state_pub_;

    boost::mutex lock_;

    pr2_msgs::PowerState power_state_;

    ParamT<double>* power_state_rate_param_;


    ParamT<double>* full_capacity_param_;

    ParamT<double>* charge_rate_param_;

    ParamT<double>* discharge_rate_param_;

    ParamT<double>* charge_voltage_param_;

    ParamT<double>* discharge_voltage_param_;

    double charge_;

    double charge_rate_;

    double voltage_;
};



}

#endif

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pr2_gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sat Mar 2 13:09:50 2013