joint_diagnostics.h
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34 
37 
38 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
39 #define _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
40 
41 #include <vector>
42 #include <float.h>
43 
44 #include <boost/shared_ptr.hpp>
45 #include <boost/math/special_functions/fpclassify.hpp>
46 #include <boost/accumulators/accumulators.hpp>
47 #include <boost/accumulators/statistics/max.hpp>
48 #include <boost/accumulators/statistics/min.hpp>
49 
50 #include <ros/ros.h>
51 #include <pr2_mechanism_msgs/MechanismStatistics.h>
52 #include <pr2_mechanism_msgs/JointStatistics.h>
53 #include <pr2_mechanism_msgs/ActuatorStatistics.h>
55 
57 {
58 
60 template<typename T>
61 inline bool is_valid(T t)
62 {
63  if (t == 0)
64  return true;
65 
66  return boost::math::isnormal(t);
67 }
68 
76 class JointStats
77 {
78 private:
80 
81  mutable bool needs_reset;
82 
83  std::string name;
84  double position;
85  double velocity;
90  double odometer;
91 
92  // Store min/max positions, etc for joint since last diagnostic publish
94 
95  void reset_vals();
97 public:
98  JointStats(std::string nam);
99 
101 
102  bool update(const pr2_mechanism_msgs::JointStatistics &js);
103 
105 };
106 
107 }
108 
109 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
Publishes diagnostics for controllers, joints from pr2_mechanism_msgs/MechanismStatistics message...
bool update(const pr2_mechanism_msgs::JointStatistics &js)
bool is_valid(T t)
Returns false if a value is infinity, NaN, etc.
boost::shared_ptr< diagnostic_updater::DiagnosticStatusWrapper > toDiagStat() const


pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Tue Mar 7 2023 03:54:57