WindupPolicy.hpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: 26.06.2013.
 *  Author: Dula Nad
 *********************************************************************/
#ifndef WINDUPPOLICY_HPP_
#define WINDUPPOLICY_HPP_
#include <ros/ros.h>

namespace labust
{
        namespace control
        {
                template <class WindupType>
                class WindupPolicy
                {
                public:
                        WindupPolicy()
                        {
                                ros::NodeHandle nh;
                                windupSub = nh.subscribe<WindupType>("windup", 1,
                                                &WindupPolicy::onWindup,this);
                        }

                        void onWindup(const typename WindupType::ConstPtr& windup)
                        {
                                boost::mutex::scoped_lock l(wnd_mux);
                                this->_windup_var = *windup;
                        }

                        template <class Base>
                        inline void get_windup(Base* b)
                        {
                                boost::mutex::scoped_lock l(wnd_mux);
                                b->windup(_windup_var);
                        };

                protected:
                        boost::mutex wnd_mux;
                        ros::Subscriber windupSub;
                        WindupType _windup_var;
                };
        }
}

/* WINDUPPOLICY_HPP_ */
#endif