joint_limit_calibration_controller.h

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#ifndef JOINT_LIMIT_CALIBRATION_CONTROLLER
#define JOINT_LIMIT_CALIBRATION_CONTROLLER

#include "ros/ros.h"
#include "pr2_mechanism_model/robot.h"
#include "robot_mechanism_controllers/joint_velocity_controller.h"
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/Empty.h"

namespace joint_qualification_controllers
{

class JointLimitCalibrationController : public pr2_controller_interface::Controller
{
public:
  JointLimitCalibrationController();
  virtual ~JointLimitCalibrationController();

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

  virtual void update();

  bool calibrated() { return state_ == CALIBRATED; }
  void beginCalibration() {
    if (state_ == INITIALIZED)
      state_ = BEGINNING;
  }

protected:
  pr2_mechanism_model::RobotState* robot_;
  ros::NodeHandle node_;
  boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
  ros::Time last_publish_time_;

  enum { INITIALIZED, BEGINNING, STARTING, STOPPING, CALIBRATED };
  int state_;
  int count_;
  int stop_count_;

  double search_velocity_;

  pr2_hardware_interface::Actuator *actuator_;
  pr2_mechanism_model::JointState *joint_;
  pr2_mechanism_model::Transmission *transmission_;

  controller::JointVelocityController vc_; 
};


}


#endif //JOINT_LIMIT_CALIBRATION_CONTROLLER