srh_joint_muscle_valve_controller.hpp
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00001 
00030 #ifndef _SRH_MUSCLE_VALVE_CONTROLLER_HPP_
00031 #define _SRH_MUSCLE_VALVE_CONTROLLER_HPP_
00032 
00033 #include <sr_mechanism_controllers/sr_controller.hpp>
00034 #include <sr_robot_msgs/JointMuscleValveControllerState.h>
00035 #include <sr_robot_msgs/JointMuscleValveControllerCommand.h>
00036 
00037 namespace controller
00038 {
00039   class SrhJointMuscleValveController : public SrController
00040   {
00041   public:
00042     SrhJointMuscleValveController();
00043     virtual ~SrhJointMuscleValveController();
00044 
00045     bool init( pr2_mechanism_model::RobotState *robot, const std::string &joint_name);
00046     bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00047 
00048     virtual void starting();
00049 
00053     virtual void update();
00054 
00055     virtual void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
00056     virtual bool resetGains(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp);
00057     //bool setGains(sr_robot_msgs::SetEffortControllerGains::Request &req, sr_robot_msgs::SetEffortControllerGains::Response &resp);
00058 
00059     int8_t cmd_valve_muscle_[2];                            
00060     unsigned int cmd_duration_ms_[2];                      
00061     unsigned int current_duration_ms_[2];                  // These are the actual counters used to maintain the commanded value for the valve during the commanded time
00062 
00063     int8_t cmd_valve_muscle_min_;
00064     int8_t cmd_valve_muscle_max_;
00065 
00066   private:
00067     //publish our joint controller state
00068     boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::JointMuscleValveControllerState> > controller_state_publisher_;
00069 
00070     ros::Subscriber sub_command_;
00071     void setCommandCB(const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr& msg);
00072 
00074     void read_parameters();
00075 
00077     int8_t clamp_command( int8_t cmd );
00078   };
00079 } // namespace
00080 
00081 /* For the emacs weenies in the crowd.
00082 Local Variables:
00083    c-basic-offset: 2
00084 End:
00085 */
00086 
00087 
00088 #endif


sr_mechanism_controllers
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:09:56