hysteresis_controller.h
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00034 
00035 #ifndef _JOINT_QUALIFICATION_CONTROLLERS_HYSTERESIS_CONTROLLER_H
00036 #define _JOINT_QUALIFICATION_CONTROLLERS_HYSTERESIS_CONTROLLER_H
00037 
00038 /***************************************************/
00046 /***************************************************/
00047 
00048 #include <ros/ros.h>
00049 #include <string>
00050 #include <math.h>
00051 #include <joint_qualification_controllers/HysteresisData.h>
00052 #include "realtime_tools/realtime_publisher.h"
00053 #include <pr2_controller_interface/controller.h>
00054 #include <robot_mechanism_controllers/joint_velocity_controller.h>
00055 #include <boost/scoped_ptr.hpp>
00056 
00057 namespace joint_qualification_controllers
00058 {
00059 
00060 class HysteresisController : public pr2_controller_interface::Controller
00061 {
00062 
00063 public:
00064   enum { STOPPED, MOVING_HOME, MOVING_UP, MOVING_DOWN, ANALYZING, DONE};
00065 
00066   HysteresisController();
00067   ~HysteresisController();
00068 
00074   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00075 
00079   void starting();
00080 
00084   void analysis();
00085 
00089   void update();
00090 
00094   bool sendData();
00095   
00096   bool done() { return state_ == DONE; }
00097   
00098 
00099 private:
00100   joint_qualification_controllers::HysteresisData test_data_;
00101 
00102   pr2_mechanism_model::JointState *joint_;     
00103   pr2_mechanism_model::RobotState *robot_;     
00104   controller::JointVelocityController *velocity_controller_;    
00105   double velocity_;            
00106   double max_effort_;          
00107   ros::Time initial_time_;             
00108   double initial_position_;
00109   int up_count_, down_count_;
00110   bool complete;
00111 
00112   double timeout_;
00113 
00114   int state_;
00115   int starting_count_;
00116 
00117   bool data_sent_;
00118   
00119   double last_publish_time_;
00120 
00121   // RT service call
00122   boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::HysteresisData> > hyst_pub_;
00123 
00124   bool turn();
00125 
00126 };
00127 }
00128 
00129 
00130 #endif


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Sat Dec 28 2013 17:29:55