head_position_controller.h
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00034 
00035 /*
00036  * \author Melonee Wise
00037  * 
00038  * This controls the PR2 head using a position controller on the pan and
00039  * tilt joints.
00040  */
00041 
00042 #ifndef HEAD_POSITION_CONTROLLER_H
00043 #define HEAD_POSITION_CONTROLLER_H
00044 
00045 #include <ros/node_handle.h>
00046 #include <pr2_controller_interface/controller.h>
00047 #include <robot_mechanism_controllers/joint_position_controller.h>
00048 #include <sensor_msgs/JointState.h>
00049 #include <boost/scoped_ptr.hpp>
00050 
00051 namespace joint_qualification_controllers {
00052 
00053 class HeadPositionController : public pr2_controller_interface::Controller
00054 {
00055 public:
00056   HeadPositionController();
00057   ~HeadPositionController();
00058 
00059   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00060 
00061   void starting();
00062   void update();
00063 
00064   // input of the controller
00065   double pan_out_, tilt_out_;
00066 
00067 private:
00068 
00069   ros::NodeHandle node_;
00070   std::string pan_link_name_, tilt_link_name_;
00071   pr2_mechanism_model::RobotState *robot_state_;
00072   ros::Subscriber sub_command_;
00073 
00074   void command(const sensor_msgs::JointStateConstPtr& command_msg);
00075 
00076   // position controller
00077   controller::JointPositionController head_pan_controller_;
00078   controller::JointPositionController head_tilt_controller_;
00079 
00080 
00081 };
00082 
00083 }
00084 
00085 
00086 #endif


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