acceleration_observer.h

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//@author  Joe Romano
//@email   joeromano@gmail.com
//@brief   acceleration_observer.cpp - file to read the hand mounted 
//         accelerometer in the pr2 and do some simple processing to 
//         make the data more accessible to higher-level code

#include <pr2_hardware_interface/hardware_interface.h>
#include <pr2_gripper_sensor_controller/digitalFilter.h>

#ifndef _ACCELERATION_OBSERVER
#define _ACCELERATION_OBSERVER


class accelerationObserver{
  
  public:
    // functions
    accelerationObserver(pr2_hardware_interface::Accelerometer* accelerometerHandle);  // ctor
    ~accelerationObserver();                    // default destructor
    void spin();                                // method to update sensor data. should run at 1khz
    bool checkPlaceContact(double dAcc);
    double aX_bp, aY_bp, aZ_bp;                 // bandpassed acceleration data                    
    double aX_lp, aY_lp, aZ_lp;                 // lowpassed acceleration data
    double readingTime;

    digitalFilter *accBPFilt[3];
    digitalFilter *accLPFilt[3];
    bool placeContact;

  private:
    pr2_hardware_interface::Accelerometer* accHandle;

};

#endif // _ACCELERATION_OBSERVER