include
pr2_mechanism_diagnostics
joint_diagnostics.h
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* Software License Agreement (BSD License)
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* Copyright (c) 2010, Willow Garage, Inc.
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#ifndef _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
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#define _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
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#include <vector>
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#include <float.h>
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#include <boost/shared_ptr.hpp>
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#include <boost/math/special_functions/fpclassify.hpp>
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#include <boost/accumulators/accumulators.hpp>
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#include <boost/accumulators/statistics/max.hpp>
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#include <boost/accumulators/statistics/min.hpp>
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#include <
ros/ros.h
>
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#include <pr2_mechanism_msgs/MechanismStatistics.h>
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#include <pr2_mechanism_msgs/JointStatistics.h>
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#include <pr2_mechanism_msgs/ActuatorStatistics.h>
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#include <
diagnostic_updater/DiagnosticStatusWrapper.h
>
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namespace
pr2_mechanism_diagnostics
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{
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template
<
typename
T>
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inline
bool
is_valid
(T t)
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{
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if
(t == 0)
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return
true
;
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return
boost::math::isnormal(t);
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}
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class
JointStats
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{
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private
:
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ros::Time
updateTime
;
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mutable
bool
needs_reset
;
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std::string
name
;
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double
position
;
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double
velocity
;
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double
measured_effort
;
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double
commanded_effort
;
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bool
is_calibrated
;
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bool
violated_limits
;
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double
odometer
;
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// Store min/max positions, etc for joint since last diagnostic publish
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double
max_pos_val
,
min_pos_val
,
max_abs_vel_val
,
max_abs_eff_val
;
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void
reset_vals
();
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public
:
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JointStats
(std::string nam);
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~JointStats
() { }
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bool
update
(
const
pr2_mechanism_msgs::JointStatistics &js);
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boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper>
toDiagStat
()
const
;
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};
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}
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#endif // _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
pr2_mechanism_diagnostics
Publishes diagnostics for controllers, joints from pr2_mechanism_msgs/MechanismStatistics message.
Definition:
controller_diagnostics.h:47
boost::shared_ptr
pr2_mechanism_diagnostics::JointStats::measured_effort
double measured_effort
Definition:
joint_diagnostics.h:118
ros.h
pr2_mechanism_diagnostics::JointStats::updateTime
ros::Time updateTime
Definition:
joint_diagnostics.h:111
pr2_mechanism_diagnostics::JointStats::name
std::string name
Definition:
joint_diagnostics.h:115
pr2_mechanism_diagnostics::JointStats::needs_reset
bool needs_reset
Definition:
joint_diagnostics.h:113
pr2_mechanism_diagnostics::JointStats::is_calibrated
bool is_calibrated
Definition:
joint_diagnostics.h:120
pr2_mechanism_diagnostics::JointStats::odometer
double odometer
Definition:
joint_diagnostics.h:122
pr2_mechanism_diagnostics::JointStats::update
bool update(const pr2_mechanism_msgs::JointStatistics &js)
Definition:
joint_diagnostics.cpp:136
pr2_mechanism_diagnostics::JointStats::position
double position
Definition:
joint_diagnostics.h:116
DiagnosticStatusWrapper.h
pr2_mechanism_diagnostics::JointStats::max_abs_vel_val
double max_abs_vel_val
Definition:
joint_diagnostics.h:125
pr2_mechanism_diagnostics::JointStats::min_pos_val
double min_pos_val
Definition:
joint_diagnostics.h:125
pr2_mechanism_diagnostics::JointStats::violated_limits
bool violated_limits
Definition:
joint_diagnostics.h:121
pr2_mechanism_diagnostics::JointStats::reset_vals
void reset_vals()
Definition:
joint_diagnostics.cpp:74
pr2_mechanism_diagnostics::JointStats::velocity
double velocity
Definition:
joint_diagnostics.h:117
pr2_mechanism_diagnostics::JointStats::max_pos_val
double max_pos_val
Definition:
joint_diagnostics.h:125
pr2_mechanism_diagnostics::JointStats::max_abs_eff_val
double max_abs_eff_val
Definition:
joint_diagnostics.h:125
pr2_mechanism_diagnostics::is_valid
bool is_valid(T t)
Returns false if a value is infinity, NaN, etc.
Definition:
joint_diagnostics.h:93
ros::Time
pr2_mechanism_diagnostics::JointStats::toDiagStat
boost::shared_ptr< diagnostic_updater::DiagnosticStatusWrapper > toDiagStat() const
Definition:
joint_diagnostics.cpp:85
pr2_mechanism_diagnostics::JointStats::commanded_effort
double commanded_effort
Definition:
joint_diagnostics.h:119
pr2_mechanism_diagnostics::JointStats::JointStats
JointStats(std::string nam)
Definition:
joint_diagnostics.cpp:58
pr2_mechanism_diagnostics::JointStats::~JointStats
~JointStats()
Definition:
joint_diagnostics.h:132
pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Mon Mar 6 2023 03:49:19