joint.h
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00034 /*
00035  *
00036  */
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   // joint statistics
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 /* JOINT_H */


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:02