counterbalance_test_controller.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, 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 COUNTERBALANCE_TEST_CONTROLLER_H
00036 #define COUNTERBALANCE_TEST_CONTROLLER_H
00037 
00038 /***************************************************/
00046 /***************************************************/
00047 
00048 
00049 #include <vector>
00050 #include <ros/ros.h>
00051 #include <math.h>
00052 #include <joint_qualification_controllers/CounterbalanceTestData.h>
00053 #include <realtime_tools/realtime_publisher.h>
00054 #include <pr2_controller_interface/controller.h>
00055 #include <robot_mechanism_controllers/joint_position_controller.h>
00056 #include <control_toolbox/dither.h>
00057 #include <iostream>
00058 #include <string>
00059 
00060 namespace joint_qualification_controllers
00061 {
00062 
00063 class CounterbalanceTestController : public pr2_controller_interface::Controller
00064 {
00065 
00066 public:
00067   enum { STARTING, SETTLING, DITHERING, NEXT, DONE };
00068 
00069   CounterbalanceTestController();
00070   ~CounterbalanceTestController();
00071 
00077   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00078 
00082   void update();
00083 
00084   void starting();
00085 
00086   bool sendData();
00087     
00088   bool done() { return state_ == DONE; }
00089   
00090   joint_qualification_controllers::CounterbalanceTestData cb_test_data_;
00091 
00092 private:
00093   control_toolbox::Dither* lift_dither_;
00094   control_toolbox::Dither* flex_dither_;
00095 
00096   controller::JointPositionController *lift_controller_;
00097   controller::JointPositionController *flex_controller_;
00098 
00099   pr2_mechanism_model::JointState *flex_state_;    
00100   pr2_mechanism_model::JointState *lift_state_;    
00101 
00102   pr2_mechanism_model::RobotState *robot_;
00103 
00104   int starting_count_;
00105 
00106   int state_;
00107   
00108   ros::Time initial_time_;
00109 
00110   double settle_time_;
00111   ros::Time start_time_;
00112   int dither_points_;
00113   double timeout_;
00114 
00115   int dither_count_;
00116 
00117   uint lift_index_;
00118   uint flex_index_;
00119 
00120   bool data_sent_;
00121 
00122   boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::CounterbalanceTestData> > cb_data_pub_;
00123 
00124 
00125 };
00126 
00127 }
00128 
00129 
00130 
00131 #endif //COUNTERBALANCE_TEST_CONTROLLER_H


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Mon Sep 14 2015 14:38:58