encoders_monitor.h
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00001 
00026 #ifndef GRIZZLY_MOTION_ENCODERS_MONITOR_H
00027 #define GRIZZLY_MOTION_ENCODERS_MONITOR_H
00028 
00029 #include <ros/ros.h>
00030 #include <grizzly_msgs/Drive.h>
00031 #include <grizzly_msgs/eigen.h>
00032 
00033 namespace diagnostic_updater {
00034 class DiagnosticStatusWrapper;
00035 }
00036 
00037 class EncodersMonitor {
00038 public:
00039   EncodersMonitor() {}
00040   EncodersMonitor(ros::NodeHandle* nh);
00041 
00042   bool ok();
00043   bool moving();
00044   void diagnostic(diagnostic_updater::DiagnosticStatusWrapper&);
00045 
00046   bool detectFailedEncoder();
00047   bool detectFailedEncoderCandidate(VectorDrive::Index* candidate);
00048 
00049   // Callbacks receive inbound data
00050   void encodersCallback(const grizzly_msgs::DriveConstPtr&);
00051   void driveCallback(const grizzly_msgs::DriveConstPtr&);
00052 
00053   // Encoder data must be this fresh to not be considered out of date.
00054   ros::Duration encoders_timeout;
00055 
00056   // Threshold of rad/s difference between mean error and a singular wheel's error necessary
00057   // to mark it as suspicious.
00058   double encoder_speed_error_diff_threshold;
00059 
00060   // Time lag between suspecting a failure and taking action.
00061   ros::Duration encoder_fault_time_to_failure;
00062 
00063 protected:
00064   ros::Subscriber sub_encoders_, sub_drive_;
00065   int failed_encoder_;
00066 
00067   grizzly_msgs::DriveConstPtr last_received_encoders_;
00068   grizzly_msgs::DriveConstPtr last_received_drive_;
00069   ros::Time time_of_last_nonsuspect_encoders_;
00070 };
00071 
00072 #endif


grizzly_motion
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autogenerated on Fri Aug 28 2015 10:55:30