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00037 #ifndef JOINT_H
00038 #define JOINT_H
00039
00040 #include <tinyxml.h>
00041 #include <urdf_model/joint.h>
00042
00043
00044 namespace pr2_mechanism_model {
00045
00046 class JointState;
00047
00048 class JointStatistics
00049 {
00050 public:
00051 JointStatistics():odometer_(0.0), min_position_(0), max_position_(0),
00052 max_abs_velocity_(0.0), max_abs_effort_(0.0),
00053 violated_limits_(false), initialized_(false){}
00054
00055 void update(JointState* s);
00056 void reset();
00057
00058 double odometer_;
00059 double min_position_, max_position_;
00060 double max_abs_velocity_;
00061 double max_abs_effort_;
00062 bool violated_limits_;
00063
00064 private:
00065 bool initialized_;
00066 double old_position_;
00067 };
00068
00069
00070
00071 class JointState
00072 {
00073 public:
00075 void enforceLimits();
00076
00078 void getLimits(double &effort_low, double &effort_high);
00079
00081 boost::shared_ptr<const urdf::Joint> joint_;
00082
00084 double position_;
00085
00087 double velocity_;
00088
00090 double measured_effort_;
00091
00092
00093 JointStatistics joint_statistics_;
00094
00096 double commanded_effort_;
00097
00099 bool calibrated_;
00100
00102 double reference_position_;
00103
00105 JointState() : position_(0.0), velocity_(0.0), measured_effort_(0.0),
00106 commanded_effort_(0.0), calibrated_(false), reference_position_(0.0){}
00107 };
00108
00109 enum
00110 {
00111 JOINT_NONE,
00112 JOINT_ROTARY,
00113 JOINT_CONTINUOUS,
00114 JOINT_PRISMATIC,
00115 JOINT_FIXED,
00116 JOINT_PLANAR,
00117 JOINT_TYPES_MAX
00118 };
00119
00120
00121 }
00122
00123 #endif