joint_effort_controller.h

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#ifndef JOINT_EFFORT_CONTROLLER_H
#define JOINT_EFFORT_CONTROLLER_H

#include <boost/thread/condition.hpp>
#include <ros/node_handle.h>
#include <pr2_controller_interface/controller.h>

#include <std_msgs/Float64.h>


namespace controller
{

class JointEffortController : public pr2_controller_interface::Controller
{
public:

  JointEffortController();
  ~JointEffortController();

  bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name);
  virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  virtual void starting() { command_ = 0.0;}
  virtual void update();

  pr2_mechanism_model::JointState *joint_state_;

  double command_;

private:
  pr2_mechanism_model::RobotState *robot_;

  ros::NodeHandle node_;
  ros::Subscriber sub_command_;
  void commandCB(const std_msgs::Float64ConstPtr& msg);

};

}

#endif