RosMsgGainCalculator.h
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00001 #ifndef ROS_MSG_GAIN_CALCULATOR_H
00002 #define ROS_MSG_GAIN_CALCULATOR_H
00003 
00004 #include "robodyn_controllers/GainCalculator.h"
00005 #include "robodyn_controllers/JointGainsData.h"
00006 #include "robodyn_controllers/KdlTreeUtilities.h"
00007 #include "robodyn_utilities/RateLimiter.h"
00008 
00009 #include <boost/function.hpp>
00010 #include <sensor_msgs/JointState.h>
00011 #include <r2_msgs/Gains.h>
00012 #include <r2_msgs/StringArray.h>
00013 #include "robot_instance/StringUtilities.h"
00014 #include "robodyn_mechanisms/JointCommandFactory.h"
00015 
00016 class RosMsgGainCalculator : public KdlTreeUtilities
00017 {
00018 public:
00019     RosMsgGainCalculator();
00020     ~RosMsgGainCalculator();
00021 
00022     void initialize();
00023 
00024     void storeGainInformation(const r2_msgs::Gains& desiredDyn);
00025 
00026     void storeGainProperties();
00027 
00028     void findDesiredDynamics(const sensor_msgs::JointState& inertia,
00029                              r2_msgs::Gains& desiredGains);
00030 
00031     void setDefaultGains(const double& wn, const double& zeta, const double& windup);
00032 
00033     bool getCompletionMessage(r2_msgs::StringArray& completionMsg);
00034 
00035     RateLimiter yl, ylWindup;
00036     boost::function<float(std::string)> getBrainstemCoeff;
00037     boost::function<std::string(std::string)> getCommandFile;
00038 
00039     std::map<std::string, JointGainsData> jointGainsData;
00040 
00041 private:
00042     std::map<std::string, JointGainsData>::iterator jointGainsIt;
00043     bool initialized;
00044 
00045 };
00046 
00047 #endif


robodyn_controllers
Author(s):
autogenerated on Sat Jun 8 2019 20:20:53