sr_joint_motor.hpp

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#ifndef SR_JOINT_MOTOR_HPP_
#define SR_JOINT_MOTOR_HPP_

#include <sr_hardware_interface/sr_actuator.hpp>

#include <sr_utilities/sr_math_utils.hpp>
#include <sr_utilities/calibration.hpp>
#include <sr_utilities/thread_safe_map.hpp>


namespace shadow_joints
{
  struct PartialJointToSensor
  {
    int sensor_id;
    double coeff;
  };

  struct JointToSensor
  {
    std::vector<std::string> sensor_names;
    std::vector<PartialJointToSensor> joint_to_sensor_vector;
    bool calibrate_after_combining_sensors;
  };

  class Motor
  {
  public:
    Motor()
        : motor_id(0), msg_motor_id(0), actuator(NULL), motor_ok(false), bad_data(false)
    {
    }
    ;

    ~Motor()
    {
    }
    ;

    //the position of the motor in the motor array
    // coming from the hardware
    int motor_id;

    //the position of the motor in the message array
    int msg_motor_id;

    //actuator
    sr_actuator::SrActuator* actuator;

    bool motor_ok;
    bool bad_data;

    ros::ServiceServer force_pid_service;

    ros::ServiceServer reset_motor_service;
  };

  struct Joint
  {
    std::string joint_name;

    //the indexes of the joints in the joint array
    // coming from the hardware which are used to
    // compute the joint data.
    JointToSensor joint_to_sensor;

    //used to filter the position and the velocity
    sr_math_utils::filters::LowPassFilter pos_filter;
    //used to filter the effort
    sr_math_utils::filters::LowPassFilter effort_filter;

    bool has_motor;
    boost::shared_ptr<Motor> motor;
  };

  typedef threadsafe::Map<boost::shared_ptr<shadow_robot::JointCalibration> > CalibrationMap;
}

/* For the emacs weenies in the crowd.
 Local Variables:
 c-basic-offset: 2
 End:
 */

#endif /* SR_JOINT_MOTOR_HPP_ */