wrist_calibration_controller.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Author: Stuart Glaser
00032  */
00033 
00034 #ifndef WRIST_CALIBRATION_CONTROLLER_H
00035 #define WRIST_CALIBRATION_CONTROLLER_H
00036 
00037 #include "robot_mechanism_controllers/joint_velocity_controller.h"
00038 #include "realtime_tools/realtime_publisher.h"
00039 #include "pr2_mechanism_model/wrist_transmission.h"
00040 #include "std_msgs/Empty.h"
00041 #include "pr2_controllers_msgs/QueryCalibrationState.h"
00042 
00043 namespace controller {
00044 
00045 class WristCalibrationController : public pr2_controller_interface::Controller
00046 {
00047 public:
00048   WristCalibrationController();
00049   ~WristCalibrationController();
00050 
00051   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00052   virtual void starting();
00053   virtual void update();
00054 
00055   bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req, pr2_controllers_msgs::QueryCalibrationState::Response& resp);
00056 
00057 protected:
00058 
00059   enum { INITIALIZED, BEGINNING,
00060          MOVING_FLEX_TO_HIGH, MOVING_FLEX,
00061          MOVING_ROLL_TO_LOW, MOVING_ROLL, CALIBRATED };
00062   int state_;
00063 
00064   pr2_mechanism_model::RobotState *robot_;
00065   ros::NodeHandle node_;
00066   ros::Time last_publish_time_;
00067   ros::ServiceServer is_calibrated_srv_;
00068   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
00069 
00070   double roll_search_velocity_;
00071   double flex_search_velocity_;
00072   bool original_switch_state_;
00073   int countdown_;
00074 
00075   // Tracks the actuator positions for when the optical switch occurred.
00076   double flex_switch_l_, flex_switch_r_;
00077   double roll_switch_l_, roll_switch_r_;
00078 
00079   double prev_actuator_l_position_, prev_actuator_r_position_;
00080 
00081   pr2_hardware_interface::Actuator *actuator_l_, *actuator_r_;
00082   pr2_mechanism_model::JointState *flex_joint_, *roll_joint_;
00083   pr2_mechanism_model::Transmission *transmission_;
00084 
00085   // Preallocated, for use in update()
00086   std::vector<pr2_hardware_interface::Actuator*> fake_as;
00087   std::vector<pr2_mechanism_model::JointState*> fake_js;
00088 
00089   controller::JointVelocityController vc_flex_, vc_roll_;
00090 };
00091 
00092 
00093 }
00094 
00095 #endif


pr2_calibration_controllers
Author(s): Stuart Glaser
autogenerated on Thu Apr 24 2014 15:45:00