motor_joint_calibration_controller.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Copyright (c) 2009, 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 
00037 #ifndef MOTOR_JOINT_CALIBRATION_CONTROLLER_H
00038 #define MOTOR_JOINT_CALIBRATION_CONTROLLER_H
00039 
00040 
00041 #include "ros/node_handle.h"
00042 #include "pr2_mechanism_model/robot.h"
00043 #include "realtime_tools/realtime_publisher.h"
00044 #include "std_msgs/Empty.h"
00045 #include <boost/scoped_ptr.hpp>
00046 #include "pr2_controller_interface/controller.h"
00047 
00048 namespace joint_qualification_controllers
00049 {
00050 
00051 class MotorJointCalibrationController : public pr2_controller_interface::Controller
00052 {
00053 
00054 public:
00055   MotorJointCalibrationController();
00056   virtual ~MotorJointCalibrationController();
00057 
00058   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00059 
00060   virtual void update();
00061 
00062 
00063 protected:
00064 
00065   pr2_mechanism_model::RobotState* robot_;
00066   ros::NodeHandle node_;
00067   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
00068   ros::Time last_publish_time_;
00069 
00070   pr2_mechanism_model::JointState *joint_;
00071 
00072 
00073 };
00074 
00075 }
00076 
00077 
00078  #endif // MOTOR_JOINT_CALIBRATION_CONTROLLER_H


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Tue Apr 22 2014 19:39:16