hysteresis_controller.h

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#ifndef _JOINT_QUALIFICATION_CONTROLLERS_HYSTERESIS_CONTROLLER_H
#define _JOINT_QUALIFICATION_CONTROLLERS_HYSTERESIS_CONTROLLER_H

/***************************************************/
/***************************************************/

#include <ros/ros.h>
#include <string>
#include <math.h>
#include <joint_qualification_controllers/HysteresisData.h>
#include "realtime_tools/realtime_publisher.h"
#include <pr2_controller_interface/controller.h>
#include <robot_mechanism_controllers/joint_velocity_controller.h>
#include <boost/scoped_ptr.hpp>

namespace joint_qualification_controllers
{

class HysteresisController : public pr2_controller_interface::Controller
{

public:
  enum { STOPPED, MOVING_HOME, MOVING_UP, MOVING_DOWN, ANALYZING, DONE};

  HysteresisController();
  ~HysteresisController();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void starting();

  void analysis();

  void update();

  bool sendData();
  
  bool done() { return state_ == DONE; }
  

private:
  joint_qualification_controllers::HysteresisData test_data_;

  pr2_mechanism_model::JointState *joint_;     
  pr2_mechanism_model::RobotState *robot_;     
  controller::JointVelocityController *velocity_controller_;    
  double velocity_;            
  double max_effort_;          
  ros::Time initial_time_;             
  double initial_position_;
  int up_count_, down_count_;
  bool complete;

  double timeout_;

  int state_;
  int starting_count_;

  bool data_sent_;
  
  double last_publish_time_;

  // RT service call
  boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::HysteresisData> > hyst_pub_;

  bool turn();

};
}


#endif