gripper_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 GripperCalibrationController : public pr2_controller_interface::Controller
00049 {
00050 public:
00051   GripperCalibrationController();
00052   ~GripperCalibrationController();
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   enum { INITIALIZED, BEGINNING, STARTING, CLOSING, BACK_OFF, CLOSING_SLOWLY, CALIBRATED };
00064   int state_;
00065   int count_;
00066   int stop_count_;
00067 
00068   ros::NodeHandle node_;
00069   pr2_mechanism_model::RobotState *robot_;
00070   ros::Time last_publish_time_;
00071   ros::ServiceServer is_calibrated_srv_;
00072   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
00073 
00074   double search_velocity_;
00075   pr2_hardware_interface::Actuator *actuator_;
00076   pr2_mechanism_model::JointState *joint_;
00077   std::vector<pr2_mechanism_model::JointState*> other_joints_;
00078 
00079   double init_time;
00080   double stopped_velocity_tolerance_;
00081 
00082   controller::JointVelocityController vc_; 
00083 };
00084 
00085 
00086 }
00087 
00088 


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