40 : calibration_initialized_(false),
41 calibration_has_rising_(false),
42 calibration_has_falling_(false),
43 calibration_continuous_(false),
53 if (js->
joint_->calibration){
54 if (js->
joint_->calibration->rising){
58 if (js->
joint_->calibration->falling){
66 if (js->
joint_->type == urdf::Joint::CONTINUOUS){
86 ROS_ERROR(
"Non-continuous joint with both rising and falling edge not supported");
bool calibration_continuous_
double old_calibration_pos_
double last_calibration_rising_edge_
JointCalibrationSimulator()
void simulateJointCalibration(pr2_mechanism_model::JointState *, pr2_hardware_interface::Actuator *)
boost::shared_ptr< const urdf::Joint > joint_
A pointer to the corresponding urdf::Joint from the urdf::Model.
bool calibration_has_falling_
double position_
The joint position in radians or meters (read-only variable)
bool calibration_initialized_
bool old_calibration_reading_
bool calibration_has_rising_
bool calibration_rising_edge_valid_
double calibration_rising_
def normalize_angle(angle)
bool calibration_falling_edge_valid_
double last_calibration_falling_edge_
double reference_position_
The position of the optical flag that was used to calibrate this joint.
double calibration_falling_
void GetJointCalibrationInfo(pr2_mechanism_model::JointState *)
double old_calibration_as_pos_
bool calibration_reading_