pr2_mechanism_diagnostics: joint_diagnostics.h Source File

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00034 
00037 
00038 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
00039 #define _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
00040 
00041 #include <vector>
00042 #include <float.h>
00043 
00044 #include <boost/shared_ptr.hpp>
00045 #include <boost/math/special_functions/fpclassify.hpp>
00046 #include <boost/accumulators/accumulators.hpp>
00047 #include <boost/accumulators/statistics/max.hpp>
00048 #include <boost/accumulators/statistics/min.hpp>
00049 
00050 #include <ros/ros.h>
00051 #include <pr2_mechanism_msgs/MechanismStatistics.h>
00052 #include <pr2_mechanism_msgs/JointStatistics.h>
00053 #include <pr2_mechanism_msgs/ActuatorStatistics.h>
00054 #include <diagnostic_updater/DiagnosticStatusWrapper.h>
00055 #include <urdf/joint.h>
00056 
00057 namespace pr2_mechanism_diagnostics
00058 {
00059 
00061 template<typename T>
00062 inline bool is_valid(T t)
00063 {
00064   if (t == 0)
00065     return true;
00066 
00067   return boost::math::isnormal(t);
00068 }
00069 
00077 class JointStats 
00078 {
00079 private:
00080   ros::Time updateTime;
00081 
00082   mutable bool needs_reset;
00083 
00084   std::string name;
00085   double position;
00086   double velocity;
00087   double measured_effort;
00088   double commanded_effort;
00089   bool is_calibrated;
00090   bool violated_limits;
00091   double odometer;
00092 
00093   // Store min/max positions, etc for joint since last diagnostic publish
00094   double max_pos_val, min_pos_val, max_abs_vel_val, max_abs_eff_val;
00095 
00096   void reset_vals(); 
00098 public:
00099   JointStats(std::string nam);
00100 
00101   ~JointStats() { }
00102 
00103   bool update(const pr2_mechanism_msgs::JointStatistics &js);
00104 
00105   boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const;
00106 };
00107 
00108 }
00109 
00110 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_