pr2_mechanism_diagnostics.h

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#ifndef _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_
#define _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_

#include <ros/ros.h>
#include <pr2_mechanism_msgs/MechanismStatistics.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <vector>
#include <float.h>
#include <boost/shared_ptr.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include "pr2_mechanism_model/robot.h"
#include "pr2_mechanism_diagnostics/joint_diagnostics.h"
#include "pr2_mechanism_diagnostics/controller_diagnostics.h"
#include "std_srvs/Empty.h"
#include "std_msgs/Bool.h"

namespace pr2_mechanism_diagnostics
{

class CtrlJntDiagnosticPublisher
{
private:
  std::map<std::string, boost::shared_ptr<JointStats> > joint_stats;
  std::map<std::string, boost::shared_ptr<ControllerStats> > controller_stats;

  ros::NodeHandle n_, pnh_;
  ros::Subscriber mech_st_sub_;
  ros::Publisher diag_pub_;

  bool use_sim_time_;
  bool disable_controller_warnings_;
  
  void mechCallback(const pr2_mechanism_msgs::MechanismStatistics::ConstPtr& mechMsg);

public:
  CtrlJntDiagnosticPublisher(); 

  ~CtrlJntDiagnosticPublisher() { }
  
  void publishDiag(); 
  bool ok() const { return n_.ok(); } 
};

}

#endif // _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_