motor_joint_calibration_controller.h
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00001 /*********************************************************************
00002  * Copyright (c) 2009, Willow Garage, Inc.
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00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00037 #ifndef MOTOR_JOINT_CALIBRATION_CONTROLLER_H
00038 #define MOTOR_JOINT_CALIBRATION_CONTROLLER_H
00039 
00040 
00041 #include "ros/node_handle.h"
00042 #include "pr2_mechanism_model/robot.h"
00043 #include "realtime_tools/realtime_publisher.h"
00044 #include "std_msgs/Empty.h"
00045 #include <boost/scoped_ptr.hpp>
00046 #include "pr2_controller_interface/controller.h"
00047 
00048 namespace joint_qualification_controllers
00049 {
00050 
00051 class MotorJointCalibrationController : public pr2_controller_interface::Controller
00052 {
00053 
00054 public:
00055   MotorJointCalibrationController();
00056   virtual ~MotorJointCalibrationController();
00057 
00058   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00059 
00060   virtual void update();
00061 
00062 
00063 protected:
00064 
00065   pr2_mechanism_model::RobotState* robot_;
00066   ros::NodeHandle node_;
00067   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
00068   ros::Time last_publish_time_;
00069 
00070   pr2_mechanism_model::JointState *joint_;
00071 
00072 
00073 };
00074 
00075 }
00076 
00077 
00078  #endif // MOTOR_JOINT_CALIBRATION_CONTROLLER_H


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