NaoJointsAnalyzer.h
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00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright 2011 Stefan Osswald, University of Freiburg
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00011 *   * Redistributions of source code must retain the above copyright
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00034 
00035 #ifndef NAO_JOINTS_ANALYZER_H
00036 #define NAO_JOINTS_ANALYZER_H
00037 
00038 #include <ros/ros.h>
00039 #include <diagnostic_aggregator/analyzer.h>
00040 #include <diagnostic_aggregator/status_item.h>
00041 #include <diagnostic_msgs/DiagnosticStatus.h>
00042 #include <pluginlib/class_list_macros.h>
00043 #include <string>
00044 #include <map>
00045 
00046 namespace diagnostic_aggregator {
00047 
00051 class NaoJointsAnalyzer: public Analyzer {
00052 public:
00053         NaoJointsAnalyzer();
00054         ~NaoJointsAnalyzer();
00055         bool init(const std::string base_name, const ros::NodeHandle &n);
00056         bool match(const std::string name);
00057         bool analyze(const boost::shared_ptr<StatusItem> item);
00058         std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report();
00059         std::string getPath() const {
00060                 return m_path;
00061         }
00062         std::string getName() const {
00063                 return m_niceName;
00064         }
00065 
00066 private:
00067         std::string m_path, m_niceName;
00068         boost::shared_ptr<StatusItem> m_jointsMasterItem;
00069         boost::shared_ptr<StatusItem> m_statusItems;
00070         ros::Time m_lastSeen;
00071 
00072         struct JointData {
00073             std::string name;
00074                 double temperature, stiffness;
00075                 boost::shared_ptr<diagnostic_aggregator::StatusItem> status;
00076         };
00077         typedef std::map<std::string, JointData> JointsMapType;
00078         JointsMapType m_joints;
00079 
00080         template<typename T> void addValue(boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> joint_stat, const std::string& key, const T& value) const;
00081         static bool compareByTemperature(const NaoJointsAnalyzer::JointData& a, const NaoJointsAnalyzer::JointData& b);
00082 };
00083 
00084 }
00085 #endif //NAO_JOINTS_ANALYZER_H


nao_driver
Author(s): Armin Hornung, Armin Hornung, Stefan Osswald, Daniel Maier, Miguel Sarabia, Séverin Lemaignan
autogenerated on Thu Oct 30 2014 09:20:04