controller.h
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00034 #pragma once
00035 /***************************************************/
00043 /***************************************************/
00044 
00045 #include <ros/node_handle.h>
00046 #include <pr2_mechanism_model/robot.h>
00047 #include <pr2_controller_interface/controller_provider.h>
00048 #include <controller_interface/controller.h>
00049 
00050 namespace pr2_controller_interface
00051 {
00052 
00053 class Controller : public controller_interface::Controller<pr2_mechanism_model::RobotState >
00054 {
00055 public:
00056   enum {BEFORE_ME, AFTER_ME};
00057 
00058   Controller(): state_(CONSTRUCTED){}
00059   virtual ~Controller(){}
00060 
00061   void starting(const ros::Time& time) { starting(); }
00062   void update  (const ros::Time& time, const ros::Duration& period) { update();   }
00063   void stopping(const ros::Time& time) { stopping(); }
00064 
00066   virtual void starting() {};
00067 
00069   virtual void update(void) = 0;
00070 
00072   virtual void stopping() {};
00073 
00087   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) = 0;
00088 
00090   template<class ControllerType> bool getController(const std::string& name, int sched, ControllerType*& c)
00091   {
00092     if (contr_prov_ == NULL){
00093       ROS_ERROR("No valid pointer to a controller provider exists");
00094       return false;
00095     }
00096     if (!contr_prov_->getControllerByName(name, c)){
00097       ROS_ERROR("Could not find controller %s", name.c_str());
00098       return false;
00099     }
00100     if (sched == BEFORE_ME) before_list_.push_back(name);
00101     else if (sched == AFTER_ME) after_list_.push_back(name);
00102     else{
00103       ROS_ERROR("No valid scheduling specified. Need BEFORE_ME or AFTER_ME in getController function");
00104       return false;
00105     }
00106     return true;
00107   }
00108 
00110   bool isRunning()
00111   {
00112     return (state_ == RUNNING);
00113   }
00114 
00115   void updateRequest()
00116   {
00117     if (state_ == RUNNING)
00118       update();
00119   }
00120 
00121   bool startRequest()
00122   {
00123     // start succeeds even if the controller was already started
00124     if (state_ == RUNNING || state_ == INITIALIZED){
00125       starting();
00126       state_ = RUNNING;
00127       return true;
00128     }
00129     else
00130       return false;
00131   }
00132 
00133 
00134   bool stopRequest()
00135   {
00136     // stop succeeds even if the controller was already stopped
00137     if (state_ == RUNNING || state_ == INITIALIZED){
00138       stopping();
00139       state_ = INITIALIZED;
00140       return true;
00141     }
00142     else
00143       return false;
00144   }
00145 
00146   bool initRequest(ControllerProvider* cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
00147   {
00148     contr_prov_ = cp;
00149 
00150     if (state_ != CONSTRUCTED)
00151       return false;
00152     else
00153     {
00154       // initialize
00155       if (!init(robot, n))
00156         return false;
00157       state_ = INITIALIZED;
00158 
00159       return true;
00160     }
00161   }
00162 
00163 
00164   std::vector<std::string> before_list_, after_list_;
00165 
00166   enum {CONSTRUCTED, INITIALIZED, RUNNING} state_;
00167 
00168 private:
00169   Controller(const Controller &c);
00170   Controller& operator =(const Controller &c);
00171   ControllerProvider* contr_prov_;
00172 
00173 };
00174 
00175 }


pr2_controller_interface
Author(s): Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:10