wrist_difference_controller.h
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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 Sat Apr 27 2019 03:10:47