differential_calibration_controller.h

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//
// Created by cch on 24-8-7.
//
 
#pragma once
#include "effort_controllers/joint_position_controller.h"
#include "effort_controllers/joint_effort_controller.h"
#include "rm_calibration_controllers/calibration_base.h"
 
namespace rm_calibration_controllers
{
class DifferentialCalibrationController
  : public CalibrationBase<rm_control::ActuatorExtraInterface, hardware_interface::EffortJointInterface>
{
public:
  DifferentialCalibrationController() = default;
  bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh) override;
  void update(const ros::Time& time, const ros::Duration& period) override;
 
private:
  enum State
  {
    MOVING_POSITIVE = 3,
    MOVING_NEGATIVE,
  };
  ros::Time start_time_;
  int countdown_{};
  double velocity_threshold_{}, max_calibretion_time_{}, position_threshold_{};
  rm_control::ActuatorExtraHandle actuator2_;
  effort_controllers::JointVelocityController velocity_ctrl2_;
  effort_controllers::JointEffortController effort_ctrl_;
  effort_controllers::JointPositionController position_ctrl2_;
};
}  // namespace rm_calibration_controllers