pr2_mechanism_diagnostics.h
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00034 
00037 
00038 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_
00039 #define _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_
00040 
00041 #include <ros/ros.h>
00042 #include <pr2_mechanism_msgs/MechanismStatistics.h>
00043 #include <diagnostic_msgs/DiagnosticArray.h>
00044 #include <diagnostic_updater/DiagnosticStatusWrapper.h>
00045 #include <vector>
00046 #include <float.h>
00047 #include <boost/shared_ptr.hpp>
00048 #include <boost/math/special_functions/fpclassify.hpp>
00049 #include "pr2_mechanism_model/robot.h"
00050 #include "pr2_mechanism_diagnostics/joint_diagnostics.h"
00051 #include "pr2_mechanism_diagnostics/controller_diagnostics.h"
00052 #include "std_srvs/Empty.h"
00053 #include "std_msgs/Bool.h"
00054 
00055 namespace pr2_mechanism_diagnostics
00056 {
00057 
00062 class CtrlJntDiagnosticPublisher
00063 {
00064 private:
00065   std::map<std::string, boost::shared_ptr<JointStats> > joint_stats;
00066   std::map<std::string, boost::shared_ptr<ControllerStats> > controller_stats;
00067 
00068   ros::NodeHandle n_, pnh_;
00069   ros::Subscriber mech_st_sub_;
00070   ros::Publisher diag_pub_;
00071 
00072   bool use_sim_time_;
00073   bool disable_controller_warnings_;
00074   
00075   void mechCallback(const pr2_mechanism_msgs::MechanismStatistics::ConstPtr& mechMsg);
00076 
00077 public:
00078   CtrlJntDiagnosticPublisher(); 
00079 
00080   ~CtrlJntDiagnosticPublisher() { }
00081   
00082   void publishDiag(); 
00084   bool ok() const { return n_.ok(); } 
00085 };
00086 
00087 }
00088 
00089 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_


pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Mon Dec 2 2013 13:13:06