hysteresis_controller2.h
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34 
35 #ifndef _JOINT_QUALIFICATION_CONTROLLERS_HYSTERESIS_CONTROLLER_H
36 #define _JOINT_QUALIFICATION_CONTROLLERS_HYSTERESIS_CONTROLLER_H
37 
38 /***************************************************/
46 /***************************************************/
47 
48 #include <ros/ros.h>
49 #include <string>
50 #include <math.h>
51 #include <joint_qualification_controllers/HysteresisData2.h>
55 #include <boost/scoped_ptr.hpp>
56 
58 {
59 
61 {
62 
63 public:
65 
68 
75 
79  void starting();
80 
84  void analysis();
85 
89  void update();
90 
94  bool sendData();
95 
96  bool done() { return state_ == DONE; }
97 
98 
99 private:
100  joint_qualification_controllers::HysteresisData2 test_data_;
101 
105  double velocity_;
106  double max_effort_;
110  std::vector<int> move_count_;
111  int repeat_count_; // the number of repeats we'll do
112  int repeat_; // the current repeat
113  bool complete;
114 
115  double timeout_;
116 
117  int state_;
119 
121 
123 
124  // RT service call
125  boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::HysteresisData2> > hyst_pub_;
126 
127  bool turn();
128 
129 };
130 }
131 
132 
133 #endif
boost::scoped_ptr< realtime_tools::RealtimePublisher< joint_qualification_controllers::HysteresisData2 > > hyst_pub_
void update()
Issues commands to the joint to perform hysteresis test.
bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
Functional way to initialize.
controller::JointVelocityController * velocity_controller_
joint_qualification_controllers::HysteresisData2 test_data_


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Wed Jan 6 2021 03:39:12