pr2_gripper_controller.h
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00034 
00035 #ifndef PR2_GRIPPER_CONTROLLER_H__
00036 #define PR2_GRIPPER_CONTROLLER_H__
00037 
00061 #include <ros/node_handle.h>
00062 
00063 #include <pr2_controller_interface/controller.h>
00064 #include <control_toolbox/pid.h>
00065 #include <control_toolbox/pid_gains_setter.h>
00066 #include <boost/scoped_ptr.hpp>
00067 #include <boost/thread/condition.hpp>
00068 #include <realtime_tools/realtime_box.h>
00069 #include <realtime_tools/realtime_publisher.h>
00070 #include <std_msgs/Float64.h>
00071 
00072 #include <pr2_controllers_msgs/JointControllerState.h>
00073 #include <pr2_controllers_msgs/Pr2GripperCommand.h>
00074 
00075 namespace controller
00076 {
00077 
00078 class Pr2GripperController : public pr2_controller_interface::Controller
00079 {
00080 public:
00081 
00082   Pr2GripperController();
00083   ~Pr2GripperController();
00084 
00085   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00086 
00087   virtual void starting() {
00088     using namespace pr2_controllers_msgs;
00089     Pr2GripperCommandPtr c(new Pr2GripperCommand);
00090     c->position = joint_state_->position_;
00091     c->max_effort = 0.0;
00092     command_box_.set(c);
00093   }
00094 
00098   virtual void update();
00099 
00100   pr2_mechanism_model::JointState *joint_state_;
00101   realtime_tools::RealtimeBox<pr2_controllers_msgs::Pr2GripperCommandConstPtr> command_box_;
00102 
00103 private:
00104   int loop_count_;
00105   pr2_mechanism_model::RobotState *robot_;
00106   control_toolbox::Pid pid_;
00107   ros::Time last_time_;
00108 
00109   ros::NodeHandle node_;
00110 
00111   boost::scoped_ptr<
00112     realtime_tools::RealtimePublisher<
00113       pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;
00114 
00115   ros::Subscriber sub_command_;
00116   void commandCB(const pr2_controllers_msgs::Pr2GripperCommandConstPtr& msg);
00117 };
00118 
00119 } // namespace
00120 
00121 #endif


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Thu Apr 24 2014 15:44:51