controller_diagnostics.h
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34 
37 
38 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_
39 #define _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_
40 
41 #include <ros/ros.h>
42 #include <pr2_mechanism_msgs/MechanismStatistics.h>
43 #include <pr2_mechanism_msgs/ControllerStatistics.h>
45 #include <boost/shared_ptr.hpp>
46 
48 {
49 
58 class ControllerStats
59 {
60 private:
62 
63  std::string name;
65  bool running;
69  int num_overruns;
71 
72  bool disable_warnings_;
73 
74 public:
75  ControllerStats(std::string nam, bool disable_warnings);
76 
77  ~ControllerStats() {}
78 
79  bool update(const pr2_mechanism_msgs::ControllerStatistics &cs);
80 
82  bool shouldDiscard() const { return (ros::Time::now() - updateTime).toSec() > 3; }
83 
85 
86 };
87 
88 
89 }
90 
91 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_
pr2_mechanism_diagnostics
Publishes diagnostics for controllers, joints from pr2_mechanism_msgs/MechanismStatistics message.
Definition: controller_diagnostics.h:47
pr2_mechanism_diagnostics::ControllerStats::~ControllerStats
~ControllerStats()
Definition: controller_diagnostics.h:141
pr2_mechanism_diagnostics::ControllerStats::shouldDiscard
bool shouldDiscard() const
Definition: controller_diagnostics.h:146
pr2_mechanism_diagnostics::ControllerStats::running
bool running
Definition: controller_diagnostics.h:129
boost::shared_ptr
ros.h
pr2_mechanism_diagnostics::ControllerStats::ControllerStats
ControllerStats(std::string nam, bool disable_warnings)
Definition: controller_diagnostics.cpp:43
pr2_mechanism_diagnostics::ControllerStats::mean_time
ros::Duration mean_time
Definition: controller_diagnostics.h:131
pr2_mechanism_diagnostics::ControllerStats::update
bool update(const pr2_mechanism_msgs::ControllerStatistics &cs)
Definition: controller_diagnostics.cpp:52
pr2_mechanism_diagnostics::ControllerStats
Definition: controller_diagnostics.h:90
pr2_mechanism_diagnostics::ControllerStats::disable_warnings_
bool disable_warnings_
Definition: controller_diagnostics.h:136
pr2_mechanism_diagnostics::ControllerStats::max_time
ros::Duration max_time
Definition: controller_diagnostics.h:130
DiagnosticStatusWrapper.h
pr2_mechanism_diagnostics::ControllerStats::timestamp
ros::Time timestamp
Definition: controller_diagnostics.h:128
pr2_mechanism_diagnostics::ControllerStats::variance_time
ros::Duration variance_time
Definition: controller_diagnostics.h:132
pr2_mechanism_diagnostics::ControllerStats::name
std::string name
Definition: controller_diagnostics.h:127
ros::Time
pr2_mechanism_diagnostics::ControllerStats::updateTime
ros::Time updateTime
Definition: controller_diagnostics.h:125
pr2_mechanism_diagnostics::ControllerStats::toDiagStat
boost::shared_ptr< diagnostic_updater::DiagnosticStatusWrapper > toDiagStat() const
Definition: controller_diagnostics.cpp:73
pr2_mechanism_diagnostics::ControllerStats::last_overrun_time
ros::Time last_overrun_time
Definition: controller_diagnostics.h:134
pr2_mechanism_diagnostics::ControllerStats::num_overruns
int num_overruns
Definition: controller_diagnostics.h:133
ros::Duration
ros::Time::now
static Time now()


pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Mon Mar 6 2023 03:49:19