wrist_difference_controller.h
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34 
35 #ifndef _JOINT_QUALIFICATION_CONTROLLERS_WRIST_DIFFERENCE_CONTROLLER_H_
36 #define _JOINT_QUALIFICATION_CONTROLLERS_WRIST_DIFFERENCE_CONTROLLER_H_
37 
38 /***************************************************/
46 /***************************************************/
47 
48 #include <ros/ros.h>
49 #include <string>
50 #include <math.h>
51 #include <joint_qualification_controllers/WristDiffData.h>
56 #include <boost/scoped_ptr.hpp>
58 
60 {
61 
63 {
64 
65 public:
67 
70 
77 
81  void starting();
82 
86  void analysis();
87 
91  void update();
92 
96  bool sendData();
97 
98  bool done() { return state_ == DONE; }
99 
100 
101 private:
102  joint_qualification_controllers::WristDiffData wrist_test_data_;
103 
109 
111  double roll_velocity_;
115 
116  double timeout_;
117  double tolerance_;
118  double sd_max_;
119 
120  int state_;
122 
124 
125  // RT service call
126  boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::WristDiffData> > wrist_data_pub_;
127 
128 };
129 }
130 
131 
132 #endif
boost::scoped_ptr< realtime_tools::RealtimePublisher< joint_qualification_controllers::WristDiffData > > wrist_data_pub_
joint_qualification_controllers::WristDiffData wrist_test_data_
bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
Functional way to initialize.
void update()
Issues commands to the joint to perform hysteresis test.


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