srh_fake_joint_calibration_controller.h
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1 
27 #ifndef SR_MECHANISM_CONTROLLERS_SRH_FAKE_JOINT_CALIBRATION_CONTROLLER_H
28 #define SR_MECHANISM_CONTROLLERS_SRH_FAKE_JOINT_CALIBRATION_CONTROLLER_H
29 
30 #include "ros/node_handle.h"
31 #include <string>
32 #include "ros_ethercat_model/robot_state_interface.hpp"
35 #include "std_msgs/Empty.h"
37 #include <boost/smart_ptr.hpp>
38 
39 
40 namespace controller
41 {
42 
44  public controller_interface::Controller<ros_ethercat_model::RobotStateInterface>
45 {
46 public:
48 
49  virtual bool init(ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n);
50 
51  virtual void update(const ros::Time &time, const ros::Duration &period);
52 
53  bool calibrated()
54  {
56  }
57 
59  {
61  {
63  }
64  }
65 
66 protected:
67  ros_ethercat_model::RobotState *robot_;
69  boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
71 
72  enum
73  {
75  };
77 
78  ros_ethercat_model::Actuator *actuator_;
79  ros_ethercat_model::JointState *joint_;
80 
82 
87  void initialize_pids();
88 };
89 } // namespace controller
90 
91 /* For the emacs weenies in the crowd.
92 Local Variables:
93  c-basic-offset: 2
94 End:
95 */
96 
97 
98 #endif // SR_MECHANISM_CONTROLLERS_SRH_FAKE_JOINT_CALIBRATION_CONTROLLER_H
robot
virtual void update(const ros::Time &time, const ros::Duration &period)
boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Empty > > pub_calibrated_
virtual bool init(ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n)


sr_mechanism_controllers
Author(s): Ugo Cupcic
autogenerated on Tue Oct 13 2020 03:55:58