test_controllers.hpp
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00001 
00027 #ifndef _SR_TEST_CONTROLLERS_HPP_
00028 #define _SR_TEST_CONTROLLERS_HPP_
00029 
00030 #include "sr_mechanism_controllers/sr_controller.hpp"
00031 #include <boost/smart_ptr.hpp>
00032 
00033 #include <control_toolbox/pid.h>
00034 #include <pr2_hardware_interface/hardware_interface.h>
00035 #include <pr2_mechanism_model/robot.h>
00036 #include <tinyxml.h>
00037 #include <sr_hardware_interface/sr_actuator.hpp>
00038 
00039 class TestControllers
00040 {
00041 public:
00042   TestControllers();
00043   ~TestControllers();
00044 
00045   void init();
00046 
00047   virtual void init_controller() = 0;
00048   virtual double compute_output(double input, double current_position) = 0;
00049 
00050   boost::shared_ptr<controller::SrController> controller;
00051   boost::shared_ptr<pr2_hardware_interface::HardwareInterface> hw;
00052   boost::shared_ptr<pr2_mechanism_model::Robot> robot;
00053   boost::shared_ptr<pr2_mechanism_model::RobotState> robot_state;
00054   boost::shared_ptr<TiXmlDocument> model;
00055   boost::shared_ptr<sr_actuator::SrActuator> actuator;
00056   pr2_mechanism_model::JointState* joint_state;
00057 };
00058 
00059 
00060 /* For the emacs weenies in the crowd.
00061    Local Variables:
00062    c-basic-offset: 2
00063    End:
00064 */
00065 
00066 #endif


sr_mechanism_controllers
Author(s): Ugo Cupcic / ugo@shadowrobot.com , contact@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:54:39