controller_spec.h

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// Copyright (C) 2008-2009, Willow Garage, Inc.
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/*
 * Author: Stuart Glaser, Wim Meeussen
 */

#ifndef MECHANISM_CONTROL_CONTROL_SPEC_H
#define MECHANISM_CONTROL_CONTROL_SPEC_H

#pragma GCC diagnostic ignored "-Wextra"

#include <map>
#include <string>
#include <vector>
#include <pr2_controller_interface/controller.h>
#include <boost/circular_buffer.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/mean.hpp>
#include <boost/accumulators/statistics/variance.hpp>

typedef boost::accumulators::accumulator_set<
  double, boost::accumulators::stats<boost::accumulators::tag::max,
                                     boost::accumulators::tag::mean,
                                     boost::accumulators::tag::variance> > TimeStatistics;

struct Statistics {
  TimeStatistics acc;
  ros::Time time_last_control_loop_overrun;
  unsigned int num_control_loop_overruns;
  double max;
  boost::circular_buffer<double> max1;
Statistics() : num_control_loop_overruns(0), max(0), max1(60) {}
};

struct ControllerSpec {
  std::string name;
  boost::shared_ptr<pr2_controller_interface::Controller> c;
  boost::shared_ptr<Statistics> stats;
  
  ControllerSpec() : stats(new Statistics) {}
  ControllerSpec(const ControllerSpec &spec)
    : name(spec.name), c(spec.c), stats(spec.stats) {}
};

#endif