pr2_mechanism_model: joint_calibration

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // Author: Wim Meeussen
00031 #ifndef JOINT_CALIBRATION_SIMULATOR_H
00032 #define JOINT_CALIBRATION_SIMULATOR_H
00033 
00034 #include "pr2_mechanism_model/joint.h"
00035 #include "pr2_hardware_interface/hardware_interface.h"
00036 #include <urdf/joint.h>
00037 
00038 
00039 namespace pr2_mechanism_model
00040 {
00041 
00042 class JointCalibrationSimulator
00043 {
00044 public:
00045   JointCalibrationSimulator();
00046   void simulateJointCalibration(pr2_mechanism_model::JointState*,
00047                                 pr2_hardware_interface::Actuator*);
00048 
00049 private:
00050   void GetJointCalibrationInfo(pr2_mechanism_model::JointState*);
00051   bool calibration_initialized_;
00052   bool calibration_has_rising_, calibration_has_falling_, calibration_continuous_;
00053   double calibration_rising_, calibration_falling_;
00054   bool got_info_;
00055   bool calibration_bump_;
00056   bool old_calibration_reading_;
00057   double old_calibration_pos_;
00058   double old_calibration_as_pos_;
00059 };
00060 }
00061 #endif
joint_calibration_simulator.h
