sr_friction_compensation.hpp
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00001 
00026 #ifndef _SR_FRICTION_COMPENSATION_HPP_
00027 #define _SR_FRICTION_COMPENSATION_HPP_
00028 
00029 #include <ros/node_handle.h>
00030 
00031 #include <boost/scoped_ptr.hpp>
00032 
00033 #include <utility>
00034 
00035 
00036 
00037 #include <pr2_controller_interface/controller.h>
00038 #include <control_toolbox/pid.h>
00039 #include <boost/thread/condition.hpp>
00040 #include <realtime_tools/realtime_publisher.h>
00041 #include <std_msgs/Float64.h>
00042 #include <pr2_controllers_msgs/JointControllerState.h>
00043 
00044 
00045 #include <sr_robot_msgs/SetMixedPositionVelocityPidGains.h>
00046 
00047 #include <sr_utilities/calibration.hpp>
00048 
00049 namespace sr_friction_compensation
00050 {
00051 
00052   class SrFrictionCompensator
00053   {
00054   public:
00055 
00056     SrFrictionCompensator(std::string joint_name);
00057     ~SrFrictionCompensator();
00058 
00081     double friction_compensation( double position, double velocity, int force_demand, int deadband );
00082 
00083   private:
00085     ros::NodeHandle node_;
00086 
00095     std::pair<std::vector<joint_calibration::Point>, std::vector<joint_calibration::Point> > read_friction_map();
00096 
00105     std::vector<joint_calibration::Point> read_one_way_map(XmlRpc::XmlRpcValue raw_map);
00106 
00113     std::vector<joint_calibration::Point> generate_flat_map();
00114 
00116     boost::shared_ptr<shadow_robot::JointCalibration> friction_interpoler_forward;
00118     boost::shared_ptr<shadow_robot::JointCalibration> friction_interpoler_backward;
00119 
00121     std::string joint_name_;
00122 
00124     static const double velocity_for_static_friction;
00125   };
00126 } // namespace
00127 
00128 /* For the emacs weenies in the crowd.
00129 Local Variables:
00130    c-basic-offset: 2
00131 End:
00132 */
00133 
00134 
00135 #endif


sr_mechanism_controllers
Author(s): Ugo Cupcic / ugo@shadowrobot.com , contact@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:54:39