projector_controller.h
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00035 #ifndef PROJECTOR_CONTROLLER_H
00036 #define PROJECTOR_CONTROLLER_H
00037 
00038 #include <ros/node_handle.h>
00039 #include <pr2_controller_interface/controller.h>
00040 #include <pr2_mechanism_model/robot.h>
00041 #include <realtime_tools/realtime_publisher.h>
00042 #include <std_msgs/Header.h>
00043 #include <boost/scoped_ptr.hpp>
00044 
00045 namespace controller
00046 {
00047 class ProjectorController : public pr2_controller_interface::Controller
00048 {
00049 public:
00050   ProjectorController();
00051 
00052   ~ProjectorController();
00053 
00054   void update();
00055   void starting();
00056   void stopping();
00057 
00058   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00059 
00060 private:
00061   pr2_mechanism_model::RobotState * robot_;
00062   pr2_hardware_interface::Projector *projector_;
00063 
00064   uint32_t old_rising_;
00065   uint32_t old_falling_;
00066 
00067   boost::scoped_ptr<
00068     realtime_tools::RealtimePublisher<
00069       std_msgs::Header> > rising_edge_pub_, falling_edge_pub_;
00070 
00071   ros::NodeHandle node_handle_;
00072 
00073   // Configuration of controller.
00074   std::string actuator_name_;
00075 
00076   double current_setting_;
00077 
00078   double start_time_; 
00079 };
00080 
00081 };
00082 
00083 #endif
00084 


ethercat_trigger_controllers
Author(s): Blaise Gassend
autogenerated on Thu Aug 27 2015 14:23:06