joint_diagnostics.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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_