00001 /* 00002 * Copyright (c) 2008, 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: Wim Meeussen 00031 #ifndef JOINT_CALIBRATION_SIMULATOR_H 00032 #define JOINT_CALIBRATION_SIMULATOR_H 00033 00034 #include "pr2_mechanism_model/joint.h" 00035 #include "pr2_hardware_interface/hardware_interface.h" 00036 #include <urdf_model/joint.h> 00037 00038 00039 namespace pr2_mechanism_model 00040 { 00041 00042 class JointCalibrationSimulator 00043 { 00044 public: 00045 JointCalibrationSimulator(); 00046 void simulateJointCalibration(pr2_mechanism_model::JointState*, 00047 pr2_hardware_interface::Actuator*); 00048 00049 private: 00050 void GetJointCalibrationInfo(pr2_mechanism_model::JointState*); 00051 bool calibration_initialized_; 00052 bool calibration_has_rising_, calibration_has_falling_, calibration_continuous_; 00053 double calibration_rising_, calibration_falling_; 00054 bool got_info_; 00055 bool calibration_bump_; 00056 bool old_calibration_reading_; 00057 double old_calibration_pos_; 00058 double old_calibration_as_pos_; 00059 }; 00060 } 00061 #endif