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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, 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 00035 #ifndef JOINT_EFFORT_CONTROLLER_H 00036 #define JOINT_EFFORT_CONTROLLER_H 00037 00054 #include <boost/thread/condition.hpp> 00055 #include <ros/node_handle.h> 00056 #include <pr2_controller_interface/controller.h> 00057 00058 #include <std_msgs/Float64.h> 00059 00060 00061 namespace controller 00062 { 00063 00064 class JointEffortController : public pr2_controller_interface::Controller 00065 { 00066 public: 00067 00068 JointEffortController(); 00069 ~JointEffortController(); 00070 00071 bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name); 00072 virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); 00073 00074 virtual void starting() { command_ = 0.0;} 00075 virtual void update(); 00076 00077 pr2_mechanism_model::JointState *joint_state_; 00078 00079 double command_; 00080 00081 private: 00082 pr2_mechanism_model::RobotState *robot_; 00083 00084 ros::NodeHandle node_; 00085 ros::Subscriber sub_command_; 00086 void commandCB(const std_msgs::Float64ConstPtr& msg); 00087 00088 }; 00089 00090 } 00091 00092 #endif