checkout_controller.h
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00001 /*********************************************************************
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00034 
00035 // Author: Kevin Watts
00036 
00037 #ifndef _JOINT_QUALIFICATION_CONTROLLERS_CHECKOUT_CONTROLLER_H_
00038 #define _JOINT_QUALIFICATION_CONTROLLERS_CHECKOUT_CONTROLLER_H_
00039 
00040 /***************************************************/
00049 /***************************************************/
00050 
00051 #include "ros/ros.h"
00052 #include <string>
00053 #include <math.h>
00054 #include <boost/scoped_ptr.hpp>
00055 #include "joint_qualification_controllers/RobotData.h"
00056 #include "realtime_tools/realtime_publisher.h"
00057 #include "pr2_controller_interface/controller.h"
00058 
00059 
00060 namespace joint_qualification_controllers
00061 {
00062 
00063 
00064 /***************************************************/
00071 /***************************************************/
00072 
00073 class CheckoutController : public pr2_controller_interface::Controller
00074 {
00075 
00076 public:
00077   enum { STARTING, LISTENING, ANALYZING, DONE};
00078 
00079   CheckoutController();
00080   ~CheckoutController() { }
00081 
00087   bool init( pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00088 
00092   void starting();
00093   
00097   void update();
00098 
00102   bool sendData();
00103 
00107   void analysis(double time, bool timeout = false);
00108 
00109 
00110 private:
00111   pr2_mechanism_model::RobotState *robot_;   
00112   ros::Time initial_time_;  
00114   double timeout_;
00115 
00116   joint_qualification_controllers::RobotData robot_data_;
00117   
00118   int state_;
00119 
00120   int joint_count_;
00121   int actuator_count_;
00122 
00123   bool done() { return state_ == DONE; }
00124 
00125   bool data_sent_;
00126 
00127   double last_publish_time_;
00128 
00129   // RT service call
00130   boost::scoped_ptr<realtime_tools::RealtimePublisher<
00131                       joint_qualification_controllers::RobotData> > robot_data_pub_;
00132 };
00133 
00134 
00135 
00136 }
00137 
00138 
00139 #endif //  _JOINT_QUALIFICATION_CONTROLLERS_CHECKOUT_CONTROLLER_H_


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Sat Apr 27 2019 03:10:47