mechanical_calibration_controller.h

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//
// Created by qiayuan on 5/16/21.
//
 
#pragma once
 
#include <effort_controllers/joint_position_controller.h>
#include "rm_calibration_controllers/calibration_base.h"
 
namespace rm_calibration_controllers
{
class MechanicalCalibrationController
  : public CalibrationBase<rm_control::ActuatorExtraInterface, hardware_interface::EffortJointInterface>
{
public:
  MechanicalCalibrationController() = 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,
  };
  int countdown_{};
  double velocity_threshold_{}, position_threshold_{};
  double positive_position_{}, negative_position_{}, target_position_{};
  bool is_return_{}, is_center_{};
};
 
}  // namespace rm_calibration_controllers