00001 00030 #ifndef _SRH_EFFORT_CONTROLLER_HPP_ 00031 #define _SRH_EFFORT_CONTROLLER_HPP_ 00032 00033 #include <sr_mechanism_controllers/sr_controller.hpp> 00034 #include <sr_robot_msgs/SetEffortControllerGains.h> 00035 00036 namespace controller 00037 { 00038 class SrhEffortJointController : public SrController 00039 { 00040 public: 00041 SrhEffortJointController(); 00042 ~SrhEffortJointController(); 00043 00044 bool init( pr2_mechanism_model::RobotState *robot, const std::string &joint_name); 00045 bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); 00046 00047 virtual void starting(); 00048 00052 virtual void update(); 00053 00054 virtual void getGains(double &p, double &i, double &d, double &i_max, double &i_min); 00055 virtual bool resetGains(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp); 00056 bool setGains(sr_robot_msgs::SetEffortControllerGains::Request &req, sr_robot_msgs::SetEffortControllerGains::Response &resp); 00057 00058 private: 00060 void read_parameters(); 00061 }; 00062 } // namespace 00063 00064 /* For the emacs weenies in the crowd. 00065 Local Variables: 00066 c-basic-offset: 2 00067 End: 00068 */ 00069 00070 00071 #endif