naoqi_joints_analyzer.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright 2011 Stefan Osswald, University of Freiburg
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the University of Freiburg nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
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 NaoqiJointsAnalyzer: public Analyzer {
00052 public:
00053         NaoqiJointsAnalyzer();
00054         ~NaoqiJointsAnalyzer();
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 NaoqiJointsAnalyzer::JointData& a, const NaoqiJointsAnalyzer::JointData& b);
00082 };
00083 
00084 }
00085 #endif //NAO_JOINTS_ANALYZER_H


naoqi_driver
Author(s): Armin Hornung, Armin Hornung, Stefan Osswald, Daniel Maier, Miguel Sarabia, Severin Lemaignan
autogenerated on Fri Jul 3 2015 12:51:45