joint_diagnostics.h
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34 
37 
38 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
39 #define _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
40 
41 #include <vector>
42 #include <float.h>
43 
44 #include <boost/shared_ptr.hpp>
45 #include <boost/math/special_functions/fpclassify.hpp>
46 #include <boost/accumulators/accumulators.hpp>
47 #include <boost/accumulators/statistics/max.hpp>
48 #include <boost/accumulators/statistics/min.hpp>
49 
50 #include <ros/ros.h>
51 #include <pr2_mechanism_msgs/MechanismStatistics.h>
52 #include <pr2_mechanism_msgs/JointStatistics.h>
53 #include <pr2_mechanism_msgs/ActuatorStatistics.h>
55 
57 {
58 
60 template<typename T>
61 inline bool is_valid(T t)
62 {
63  if (t == 0)
64  return true;
65 
66  return boost::math::isnormal(t);
67 }
68 
76 class JointStats
77 {
78 private:
80 
81  mutable bool needs_reset;
82 
83  std::string name;
84  double position;
85  double velocity;
86  double measured_effort;
87  double commanded_effort;
88  bool is_calibrated;
89  bool violated_limits;
90  double odometer;
91 
92  // Store min/max positions, etc for joint since last diagnostic publish
94 
95  void reset_vals();
97 public:
98  JointStats(std::string nam);
99 
100  ~JointStats() { }
101 
102  bool update(const pr2_mechanism_msgs::JointStatistics &js);
103 
105 };
106 
107 }
108 
109 #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