Accelerometer.cpp
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00001 #include <ias_drawer_executive/Accelerometer.h>
00002 
00003 
00004 Accelerometer::Accelerometer(int side)
00005 {
00006     side_=side;
00007     acc_client_=new DetectContactAC(side ? "l_gripper_sensor_controller/event_detector" : "r_gripper_sensor_controller/event_detector",true);
00008     ROS_INFO("waiting for accelerometer AC server to come up for side %d",side);
00009     acc_client_->waitForServer(ros::Duration(5.0));
00010 }
00011 
00012 
00013 Accelerometer::~Accelerometer()
00014 {
00015     delete acc_client_;
00016 }
00017 
00018 
00019 Accelerometer *Accelerometer::instance_[] = {0,0};
00020 
00021 void
00022 Accelerometer::accelCallback(const pr2_msgs::AccelerometerState::ConstPtr& msg)
00023 {
00024 
00025 }
00026 
00027 Accelerometer *Accelerometer::getInstance(int side)
00028 {
00029     if (!instance_[side]) instance_[side] = new Accelerometer(side);
00030     return instance_[side];
00031 }
00032 
00033 
00034 void Accelerometer::detectContact(double magnitude)
00035 {
00036     pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal detect_goal;
00037     detect_goal.command.trigger_conditions=pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand::FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC;//detect_goal.command.trigger_conditions.ACC;
00038     detect_goal.command.acceleration_trigger_magnitude=magnitude;
00039 
00040     ROS_INFO("sending detect_acc goal");
00041     acc_client_->sendGoal(detect_goal);
00042     acc_client_->waitForResult(ros::Duration(100.0));
00043     if (acc_client_->getState()==actionlib::SimpleClientGoalState::SUCCEEDED)
00044         ROS_INFO("detect_acc succeeded");
00045         else
00046         ROS_INFO("detect_acc failed");
00047 }
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:37