fake_calibration_controller.h
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00034 
00035 #pragma once
00036 
00037 
00038 
00039 #include "pr2_mechanism_model/robot.h"
00040 #include "robot_mechanism_controllers/joint_velocity_controller.h"
00041 #include "realtime_tools/realtime_publisher.h"
00042 #include "std_msgs/Empty.h"
00043 #include "pr2_controllers_msgs/QueryCalibrationState.h"
00044 
00045 namespace controller
00046 {
00047 
00048 class FakeCalibrationController : public pr2_controller_interface::Controller
00049 {
00050 public:
00051   FakeCalibrationController();
00052   ~FakeCalibrationController();
00053 
00054   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00055   virtual void starting();
00056   virtual void update();
00057 
00058   bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req, pr2_controllers_msgs::QueryCalibrationState::Response& resp);
00059 
00060 
00061 protected:
00062 
00063   ros::NodeHandle node_;
00064   pr2_mechanism_model::RobotState *robot_;
00065   ros::Time last_publish_time_;
00066   ros::ServiceServer is_calibrated_srv_;
00067   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
00068 
00069   pr2_mechanism_model::JointState *joint_;
00070 };
00071 
00072 
00073 }
00074 
00075 


pr2_calibration_controllers
Author(s): Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:56