srh_mixed_position_velocity_controller.hpp

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#ifndef SRH_MIXED_POSITION_VELOCITY_CONTROLLER_H
#define SRH_MIXED_POSITION_VELOCITY_CONTROLLER_H

#include <sr_mechanism_controllers/sr_controller.hpp>
#include <sr_robot_msgs/SetMixedPositionVelocityPidGains.h>
#include <sr_robot_msgs/JointControllerState.h>

namespace controller
{
  class SrhMixedPositionVelocityJointController : public SrController
  {
  public:

    SrhMixedPositionVelocityJointController();

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

    virtual void starting(const ros::Time& time);

    virtual void update(const ros::Time& time, const ros::Duration& period);

    virtual void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
    virtual void getGains_velocity(double &p, double &i, double &d, double &i_max, double &i_min);
    virtual bool resetGains(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp);
    bool setGains(sr_robot_msgs::SetMixedPositionVelocityPidGains::Request &req, sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &resp);

  private:
    boost::scoped_ptr<control_toolbox::Pid> pid_controller_position_;       
    boost::scoped_ptr<control_toolbox::Pid> pid_controller_velocity_;       
    //publish our joint controller state
    boost::scoped_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::JointControllerState> > controller_state_publisher_;

    double max_velocity_, min_velocity_;

#ifdef DEBUG_PUBLISHER
    ros::Publisher debug_pub;
#endif

    //ros::Subscriber sub_command_;
    //void setCommandCB(const std_msgs::Float64ConstPtr& msg);

    ros::ServiceServer serve_set_gains_;

    double position_deadband;

    sr_deadband::HysteresisDeadband<double> hysteresis_deadband;

    void read_parameters();

    int motor_min_force_threshold;

    void setCommandCB(const std_msgs::Float64ConstPtr& msg);

    void resetJointState();
  };
} // namespace

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/


#endif