wrist_difference_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 _JOINT_QUALIFICATION_CONTROLLERS_WRIST_DIFFERENCE_CONTROLLER_H_
00036 #define _JOINT_QUALIFICATION_CONTROLLERS_WRIST_DIFFERENCE_CONTROLLER_H_
00037 
00038 /***************************************************/
00046 /***************************************************/
00047 
00048 #include <ros/ros.h>
00049 #include <string>
00050 #include <math.h>
00051 #include <joint_qualification_controllers/WristDiffData.h>
00052 #include <realtime_tools/realtime_publisher.h>
00053 #include <pr2_controller_interface/controller.h>
00054 #include <robot_mechanism_controllers/joint_velocity_controller.h>
00055 #include <robot_mechanism_controllers/joint_position_controller.h>
00056 #include <boost/scoped_ptr.hpp>
00057 #include "pluginlib/class_list_macros.h"
00058 
00059 namespace joint_qualification_controllers
00060 {
00061 
00062 class WristDifferenceController : public pr2_controller_interface::Controller
00063 {
00064 
00065 public:
00066   enum { STARTING, LEFT, RIGHT, ANALYZING, DONE};
00067 
00068   WristDifferenceController();
00069   ~WristDifferenceController();
00070 
00076   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00077 
00081   void starting();
00082 
00086   void analysis();
00087 
00091   void update();
00092 
00096   bool sendData();
00097   
00098   bool done() { return state_ == DONE; }
00099   
00100 
00101 private:
00102   joint_qualification_controllers::WristDiffData wrist_test_data_;
00103 
00104   pr2_mechanism_model::JointState *flex_joint_;     
00105   pr2_mechanism_model::JointState *roll_joint_;     
00106   pr2_mechanism_model::RobotState *robot_;    
00107   controller::JointPositionController *flex_controller_;   
00108   controller::JointVelocityController *roll_controller_; 
00109 
00110   double flex_position_;
00111   double roll_velocity_;            
00112   ros::Time initial_time_;             
00113   double initial_position_;
00114   int left_count_, right_count_, start_count_;
00115 
00116   double timeout_;
00117   double tolerance_;
00118   double sd_max_;
00119 
00120   int state_;
00121   int starting_count;
00122 
00123   bool data_sent_;
00124 
00125   // RT service call
00126   boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::WristDiffData> > wrist_data_pub_;
00127 
00128 };
00129 }
00130 
00131 
00132 #endif


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