joint_calibration_controller.h

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#ifndef PR2_JOINT_CALIBRATION_CONTROLLER
#define PR2_JOINT_CALIBRATION_CONTROLLER

#include <boost/scoped_ptr.hpp>
#include <boost/shared_ptr.hpp>

#include "ros/node_handle.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"
#include "pr2_controllers_msgs/QueryCalibrationState.h"


namespace controller
{

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

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

  bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req, pr2_controllers_msgs::QueryCalibrationState::Response& resp);


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

  enum { INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH, CALIBRATED };
  int state_;
  int countdown_;

  double search_velocity_;
  double original_position_;

  pr2_hardware_interface::Actuator *actuator_;
  pr2_mechanism_model::JointState *joint_;
  boost::shared_ptr<pr2_mechanism_model::Transmission> transmission_;

  controller::JointVelocityController vc_;
};

}


#endif