test_controllers.hpp

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/*
* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef _SR_TEST_CONTROLLERS_HPP_
#define _SR_TEST_CONTROLLERS_HPP_

#include "sr_mechanism_controllers/sr_controller.hpp"
#include <boost/smart_ptr.hpp>

#include <control_toolbox/pid.h>
#include <pr2_hardware_interface/hardware_interface.h>
#include <pr2_mechanism_model/robot.h>
#include <tinyxml2.h>
#include <sr_hardware_interface/sr_actuator.hpp>

class TestControllers
{
public:
  TestControllers();

  virtual ~TestControllers();

  void init();

  virtual void init_controller() = 0;

  virtual double compute_output(double input, double current_position) = 0;

  boost::shared_ptr <controller::SrController> controller;
  boost::shared_ptr <pr2_hardware_interface::HardwareInterface> hw;
  boost::shared_ptr <pr2_mechanism_model::Robot> robot;
  boost::shared_ptr <pr2_mechanism_model::RobotState> robot_state;
  boost::shared_ptr <tinyxml2::XMLDocument> model;
  boost::shared_ptr <sr_actuator::SrMotorActuator> actuator;
  pr2_mechanism_model::JointState *joint_state;
};


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

#endif