Pressure.h
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00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef __PRESSURE_H__
00031 #define __PRESSURE_H__
00032 
00033 // roslaunch arm_ik.launch
00034 #include <ros/ros.h>
00035 
00036 #include <actionlib/client/simple_action_client.h>
00037 #include <tf/transform_listener.h>
00038 #include <pr2_msgs/PressureState.h>
00039 #include <boost/thread/mutex.hpp>
00040 
00041 class Pressure {
00042 private:
00043   ros::Subscriber sub_;
00044   ros::NodeHandle n_;
00045 
00046   long zero_cnt_;
00047 
00048 
00049   double r_center[2];
00050   double l_center[2];
00051   double r_sum[22];
00052   double l_sum[22];
00053   double r_zero[22];
00054   double l_zero[22];
00055 
00056   double r_curr[22];
00057   double l_curr[22];
00058 
00059   int val_prev_prev[2][22],val_prev[2][22],touched[2][22];
00060   double slope[2][22];
00061 
00062   void calcCenter(double pressure[], double &xcenter, double &ycenter);
00063 
00064   boost::mutex pressure_mutex;
00065 
00066   void pressureCallback(const pr2_msgs::PressureState::ConstPtr& msg);
00067 
00068   Pressure(int side);
00069 
00070   ~Pressure();
00071 
00072   static Pressure *instance_[];
00073 
00074   bool initialized;
00075 
00076 
00077 public:
00078 
00079  static Pressure *getInstance(int side=0);
00080 
00081  void reset();
00082 
00083  void getCenter(double *r, double *l);
00084 
00085  void getCurrent(double r[], double l[], bool zero = true);
00086 
00087  //get sum of pressure on the inside pads
00088  void getInside(double &r, double &l, bool zero = true);
00089  //get sum of pressure on the front pads
00090  void getFront(double &r, double &l, bool zero = true);
00091 
00092  void getInsideTouched(double &r, double &l);
00093 
00094  void getFrontTouched(double &r, double &l);
00095 
00096  int side_;
00097 
00098 
00099 };
00100 
00101 
00102 
00103 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57