projector_controller.h

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#ifndef PROJECTOR_CONTROLLER_H
#define PROJECTOR_CONTROLLER_H

#include <ros/node_handle.h>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/robot.h>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Header.h>
#include <boost/scoped_ptr.hpp>

namespace controller
{
class ProjectorController : public pr2_controller_interface::Controller
{
public:
  ProjectorController();

  ~ProjectorController();

  void update();
  void starting();
  void stopping();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

private:
  pr2_mechanism_model::RobotState * robot_;
  pr2_hardware_interface::Projector *projector_;

  uint32_t old_rising_;
  uint32_t old_falling_;

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      std_msgs::Header> > rising_edge_pub_, falling_edge_pub_;

  ros::NodeHandle node_handle_;

  // Configuration of controller.
  std::string actuator_name_;

  double current_setting_;

  double start_time_; 
};

};

#endif