00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00025 #ifndef _FAKE_CALIBRATION_CONTROLLER_H_ 00026 #define _FAKE_CALIBRATION_CONTROLLER_H_ 00027 00028 #include <ros/node_handle.h> 00029 00030 #include <boost/smart_ptr.hpp> 00031 #include "ros_ethercat_model/robot_state_interface.hpp" 00032 #include "realtime_tools/realtime_publisher.h" 00033 #include "std_msgs/Bool.h" 00034 #include <controller_interface/controller.h> 00035 #include <sr_ronex_hardware_interface/mk2_gio_hardware_interface.hpp> 00036 #include <string> 00037 00038 namespace ronex 00039 { 00040 class FakeCalibrationController 00041 : public controller_interface::Controller<ros_ethercat_model::RobotStateInterface> 00042 { 00043 public: 00044 FakeCalibrationController(); 00045 00046 virtual bool init(ros_ethercat_model::RobotStateInterface* robot, ros::NodeHandle &n); 00047 00051 virtual void update(const ros::Time&, const ros::Duration&); 00052 00053 private: 00054 ros_ethercat_model::RobotStateInterface* robot_; 00055 ros::NodeHandle node_; 00056 boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Bool> > pub_calibrated_; 00057 ros::Time last_publish_time_; 00058 00059 enum { INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH, CALIBRATED }; 00060 int state_; 00061 00062 ros_ethercat_model::JointState *joint_; 00063 std::string joint_name_; 00064 00065 std_msgs::Bool calib_msg_; 00066 }; 00067 } // namespace ronex 00068 00069 /* For the emacs weenies in the crowd. 00070 Local Variables: 00071 c-basic-offset: 2 00072 End: 00073 */ 00074 00075 #endif /* _FAKE_CALIBRATION_CONTROLLER_H_ */