joint_limit_calibration_controller.h
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00034 
00042 #ifndef JOINT_LIMIT_CALIBRATION_CONTROLLER
00043 #define JOINT_LIMIT_CALIBRATION_CONTROLLER
00044 
00045 #include "ros/ros.h"
00046 #include "pr2_mechanism_model/robot.h"
00047 #include "robot_mechanism_controllers/joint_velocity_controller.h"
00048 #include "realtime_tools/realtime_publisher.h"
00049 #include "std_msgs/Empty.h"
00050 
00051 namespace joint_qualification_controllers
00052 {
00053 
00054 class JointLimitCalibrationController : public pr2_controller_interface::Controller
00055 {
00056 public:
00057   JointLimitCalibrationController();
00058   virtual ~JointLimitCalibrationController();
00059 
00060   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00061 
00062   virtual void update();
00063 
00064   bool calibrated() { return state_ == CALIBRATED; }
00065   void beginCalibration() {
00066     if (state_ == INITIALIZED)
00067       state_ = BEGINNING;
00068   }
00069 
00070 protected:
00071   pr2_mechanism_model::RobotState* robot_;
00072   ros::NodeHandle node_;
00073   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
00074   ros::Time last_publish_time_;
00075 
00076   enum { INITIALIZED, BEGINNING, STARTING, STOPPING, CALIBRATED };
00077   int state_;
00078   int count_;
00079   int stop_count_;
00080 
00081   double search_velocity_;
00082 
00083   pr2_hardware_interface::Actuator *actuator_;
00084   pr2_mechanism_model::JointState *joint_;
00085   pr2_mechanism_model::Transmission *transmission_;
00086 
00087   controller::JointVelocityController vc_; 
00088 };
00089 
00090 
00091 }
00092 
00093 
00094 #endif //JOINT_LIMIT_CALIBRATION_CONTROLLER


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Sat Apr 27 2019 03:10:47