joint_diagnostics.h

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#ifndef _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
#define _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_

#include <vector>
#include <float.h>

#include <boost/shared_ptr.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/min.hpp>

#include <ros/ros.h>
#include <pr2_mechanism_msgs/MechanismStatistics.h>
#include <pr2_mechanism_msgs/JointStatistics.h>
#include <pr2_mechanism_msgs/ActuatorStatistics.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>

namespace pr2_mechanism_diagnostics
{

template<typename T>
inline bool is_valid(T t)
{
  if (t == 0)
    return true;

  return boost::math::isnormal(t);
}

class JointStats 
{
private:
  ros::Time updateTime;

  mutable bool needs_reset;

  std::string name;
  double position;
  double velocity;
  double measured_effort;
  double commanded_effort;
  bool is_calibrated;
  bool violated_limits;
  double odometer;

  // Store min/max positions, etc for joint since last diagnostic publish
  double max_pos_val, min_pos_val, max_abs_vel_val, max_abs_eff_val;

  void reset_vals(); 
public:
  JointStats(std::string nam);

  ~JointStats() { }

  bool update(const pr2_mechanism_msgs::JointStatistics &js);

  boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const;
};

}

#endif // _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_