00001 00027 #ifndef _SENSOR_NOISE_TEST_H_ 00028 #define _SENSOR_NOISE_TEST_H_ 00029 00030 #include <ros/ros.h> 00031 #include <sensor_msgs/JointState.h> 00032 #include "diagnostic_updater/DiagnosticStatusWrapper.h" 00033 00034 namespace shadow_robot 00035 { 00036 class SensorNoiseTest 00037 { 00038 public: 00039 SensorNoiseTest(); 00040 virtual ~SensorNoiseTest() 00041 {}; 00042 00043 void test_sensor_noise(diagnostic_updater::DiagnosticStatusWrapper& status); 00044 00045 private: 00046 ros::NodeHandle nh_; 00047 ros::Subscriber joint_states_sub_; 00048 00049 void joint_states_cb_(const sensor_msgs::JointState::ConstPtr& msg); 00051 std::map<std::string, std::vector<double> > all_joint_states_; 00052 00053 static const double MAX_NOISE_CONST_; 00054 static const double NOISE_EPSILON_CONST_; 00055 }; 00056 } 00057 00058 /* For the emacs weenies in the crowd. 00059 Local Variables: 00060 c-basic-offset: 2 00061 End: 00062 */ 00063 00064 #endif /* _SENSOR_NOISE_TEST_H_ */ 00065