joint_group_velocity_controller.h

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#ifndef JOINT_GROUP_VELOCITY_CONTROLLER_H
#define JOINT_GROUP_VELOCITY_CONTROLLER_H

#include <ros/node_handle.h>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>

#include "pr2_controller_interface/controller.h"
#include "control_toolbox/pid.h"
#include "control_toolbox/pid_gains_setter.h"

// Services
#include <std_msgs/Float64.h>
#include <std_msgs/Float64MultiArray.h>

//Realtime publisher
#include <pr2_controllers_msgs/JointControllerState.h>
#include <pr2_controllers_msgs/JointControllerStateArray.h>
#include <realtime_tools/realtime_publisher.h>

namespace controller
{

class JointGroupVelocityController : public pr2_controller_interface::Controller
{
public:

  JointGroupVelocityController();
  ~JointGroupVelocityController();

  bool init(pr2_mechanism_model::RobotState *robot, const std::vector< std::string> &joint_names, const control_toolbox::Pid &pid);
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void setCommand(std::vector<double> cmd);

  void getCommand(std::vector<double> & cmd);

  virtual void starting();
  virtual void update();

  void getGains(control_toolbox::Pid &pid, double &p, double &i, double &d, double &i_max, double &i_min);
  //void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);

  std::vector< std::string > getJointName();
  unsigned int n_joints_;

private:
  ros::NodeHandle node_;
  pr2_mechanism_model::RobotState *robot_;                  
  std::vector<control_toolbox::Pid> pid_controllers_;           
  std::vector<pr2_mechanism_model::JointState*> joints_;           
  ros::Time last_time_;                              
  int loop_count_;

  realtime_tools::RealtimeBuffer<std::vector<double> > commands_buffer_;     
  friend class JointGroupVelocityControllerNode;

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      pr2_controllers_msgs::JointControllerStateArray> > controller_state_publisher_ ;

  ros::Subscriber sub_command_;
  void setCommandCB(const std_msgs::Float64MultiArrayConstPtr& msg);
};

} // namespace

#endif