00001 /* 00002 * Calibrator.hpp 00003 * 00004 * Created on: Nov 15, 2011 00005 * Author: mriedel 00006 */ 00007 00008 #ifndef CALIBRATOR_HPP_ 00009 #define CALIBRATOR_HPP_ 00010 00011 #include <telekyb_base/Options.hpp> 00012 00013 #include <sensor_msgs/Joy.h> 00014 00015 #include <telekyb_interface/TeleKybCore.hpp> 00016 #include <telekyb_interface/MKInterface.hpp> 00017 00018 00019 using namespace telekyb; 00020 00021 class CalibratorOptions : public OptionContainer 00022 { 00023 public: 00024 Option<int>* robotID; 00025 Option<std::string>* tJoystickTopic; 00026 Option<bool>* tUseMKInterface; 00027 CalibratorOptions(); 00028 }; 00029 00030 class Calibrator : telekyb_interface::ActiveBehaviorListener { 00031 protected: 00032 CalibratorOptions options; 00033 // ROS 00034 ros::NodeHandle mainNodeHandle; 00035 ros::Subscriber joySub; 00036 00037 // the System 00038 telekyb_interface::TeleKybCore* core; 00039 // BehaviorController 00040 telekyb_interface::BehaviorController* bController; 00041 telekyb_interface::OptionController *oController; 00042 00043 // Optional MKInterface 00044 telekyb_interface::MKInterface* mkInterface; 00045 00046 00047 // System Behaviors 00048 telekyb_interface::Behavior ground; 00049 telekyb_interface::Behavior hover; 00050 telekyb_interface::Behavior normalBreak; 00051 telekyb_interface::Behavior takeOff; 00052 telekyb_interface::Behavior land; 00053 00054 // Calibrator 00055 telekyb_interface::Behavior calibrator; 00056 00057 // Behavior 00058 telekyb_interface::Behavior* activeBehaviorPtr; 00059 00060 //double saveIntegralGain; 00061 00062 00063 00064 00065 public: 00066 Calibrator(); 00067 virtual ~Calibrator(); 00068 00069 // setup Behaviors 00070 void setupCalibrator(); 00071 00072 void activeBehaviorChanged(telekyb_interface::Behavior newActiveBehavior); 00073 00074 void joystickCB(const sensor_msgs::Joy::ConstPtr& msg); 00075 }; 00076 00077 #endif /* CALIBRATOR_HPP_ */
