joint_effort_controller.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 #ifndef JOINT_EFFORT_CONTROLLER_H
00036 #define JOINT_EFFORT_CONTROLLER_H
00037 
00054 #include <boost/thread/condition.hpp>
00055 #include <ros/node_handle.h>
00056 #include <pr2_controller_interface/controller.h>
00057 
00058 #include <std_msgs/Float64.h>
00059 
00060 
00061 namespace controller
00062 {
00063 
00064 class JointEffortController : public pr2_controller_interface::Controller
00065 {
00066 public:
00067 
00068   JointEffortController();
00069   ~JointEffortController();
00070 
00071   bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name);
00072   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00073 
00074   virtual void starting() { command_ = 0.0;}
00075   virtual void update();
00076 
00077   pr2_mechanism_model::JointState *joint_state_;
00078 
00079   double command_;
00080 
00081 private:
00082   pr2_mechanism_model::RobotState *robot_;
00083 
00084   ros::NodeHandle node_;
00085   ros::Subscriber sub_command_;
00086   void commandCB(const std_msgs::Float64ConstPtr& msg);
00087 
00088 };
00089 
00090 }
00091 
00092 #endif


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Thu Apr 24 2014 15:44:43