srh_mixed_position_velocity_controller.hpp

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#ifndef SRH_MIXED_POSITION_VELOCITY_CONTROLLER_H
#define SRH_MIXED_POSITION_VELOCITY_CONTROLLER_H

#include <sr_mechanism_controllers/sr_controller.hpp>
#include <sr_robot_msgs/SetMixedPositionVelocityPidGains.h>
#include <sr_robot_msgs/JointControllerState.h>

namespace controller
{
class SrhMixedPositionVelocityJointController :
        public SrController
{
public:
  SrhMixedPositionVelocityJointController();

  bool init(ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n);

  virtual void starting(const ros::Time &time);

  virtual void update(const ros::Time &time, const ros::Duration &period);

  virtual void getGains(double &p, double &i, double &d, double &i_max, double &i_min);

  virtual void getGains_velocity(double &p, double &i, double &d, double &i_max, double &i_min);

  virtual bool resetGains(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp);

  bool setGains(sr_robot_msgs::SetMixedPositionVelocityPidGains::Request &req,
                sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &resp);

private:
  boost::scoped_ptr<control_toolbox::Pid> pid_controller_position_;
  boost::scoped_ptr<control_toolbox::Pid> pid_controller_velocity_;

  // publish our joint controller state
  boost::scoped_ptr<realtime_tools::RealtimePublisher
          <sr_robot_msgs::JointControllerState> > controller_state_publisher_;

  double max_velocity_, min_velocity_;

  bool prev_in_deadband_;
  double maintained_command_;
  bool override_to_current_effort_;

#ifdef DEBUG_PUBLISHER
  ros::Publisher debug_pub;
#endif
  ros::ServiceServer serve_set_gains_;

  double position_deadband;

  sr_deadband::HysteresisDeadband<double> hysteresis_deadband;

  void read_parameters();

  int motor_min_force_threshold;

  void setCommandCB(const std_msgs::Float64ConstPtr &msg);

  void resetJointState();
};
}  // namespace controller

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/


#endif