parallel_gripper.h

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// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS_PARALLEL_GRIPPER_H
#define ROBOT_CONTROLLERS_PARALLEL_GRIPPER_H

#include <string>
#include <vector>

#include <ros/ros.h>
#include <robot_controllers/pid.h>
#include <robot_controllers_interface/controller.h>
#include <robot_controllers_interface/joint_handle.h>
#include <robot_controllers_interface/controller_manager.h>
#include <control_msgs/GripperCommandAction.h>
#include <actionlib/server/simple_action_server.h>

namespace robot_controllers
{

class ParallelGripperController : public Controller
{
  typedef actionlib::SimpleActionServer<control_msgs::GripperCommandAction> server_t;

public:
  ParallelGripperController() :
    initialized_(false),
    use_centering_controller_(false) {}
  virtual ~ParallelGripperController() {}

  virtual int init(ros::NodeHandle& nh, ControllerManager* manager);

  virtual bool start();

  virtual bool stop(bool force);

  virtual bool reset();

  virtual void update(const ros::Time& now, const ros::Duration& dt);

  virtual std::string getType()
  {
    return "robot_controllers/ParallelGripperController";
  }

  virtual std::vector<std::string> getCommandedNames();

  virtual std::vector<std::string> getClaimedNames();

private:
  void executeCb(const control_msgs::GripperCommandGoalConstPtr& goal);

  bool initialized_;
  ControllerManager* manager_;

  JointHandlePtr left_;
  JointHandlePtr right_;

  double goal_, effort_, max_position_, max_effort_;
  boost::shared_ptr<server_t> server_;

  bool use_centering_controller_;
  robot_controllers::PID centering_pid_;
};

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS_PARALLEL_GRIPPER_H