gripper_controller.h
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00001 /*
00002  * Copyright (c) 2011, 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: Adam Leeper
00031 
00032 #ifndef GRIPPER_CONTROLLER_H
00033 #define GRIPPER_CONTROLLER_H
00034 
00035 #include <ros/ros.h>
00036 
00037 #include <actionlib/client/simple_action_client.h>
00038 
00039 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
00040 
00041 #include <sensor_msgs/JointState.h>
00042 
00043 #include <object_manipulator/tools/service_action_wrappers.h>
00044 
00045 namespace pr2_wrappers {
00046 
00047 class GripperController
00048 {
00049 private:
00050 
00052   ros::NodeHandle root_nh_;
00053 
00055   ros::NodeHandle priv_nh_;
00056 
00058   object_manipulator::MultiArmActionWrapper<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_action_client_;
00059 
00061   std::string virtualJointName(std::string arm_name);
00062 
00064   double jointToGap(double jointValue);
00065 
00067   double l_gripper_open_gap_value_;
00068   double r_gripper_open_gap_value_;
00069 
00071   double l_gripper_closed_gap_value_;
00072   double r_gripper_closed_gap_value_;
00073 
00075   double l_gripper_max_effort_;
00076   double r_gripper_max_effort_;
00077 
00079   std::string l_gripper_type_;
00080   std::string r_gripper_type_;
00081 
00082 public:
00083   GripperController();
00084 
00085   ~GripperController();
00086 
00087   //------------------------------ Functionality -------------------------------
00088 
00090   bool getGripperValue(std::string arm_name, double &value);
00091 
00093   bool commandGripperValue(std::string arm_name, double value);
00094 
00095   //-------------------------------- Constants ---------------------------------
00096 
00098   double getGripperOpenGap(std::string arm_name) const 
00099   {
00100     if (arm_name == "right_arm") return r_gripper_open_gap_value_;
00101     else return l_gripper_open_gap_value_;
00102   }
00103 
00105   double getGripperClosedGap(std::string arm_name) const 
00106   {
00107     if (arm_name == "right_arm") return r_gripper_closed_gap_value_;
00108     else return l_gripper_closed_gap_value_;
00109   }
00110 
00111 };
00112 
00113 }
00114 
00115 #endif


pr2_wrappers
Author(s): Adam Leeper
autogenerated on Fri Jan 3 2014 11:50:39