controller_spec.h
Go to the documentation of this file.
00001 
00002 // Copyright (C) 2008-2009, Willow Garage, Inc.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of Stanford University nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 /*
00029  * Author: Stuart Glaser, Wim Meeussen
00030  */
00031 
00032 #ifndef MECHANISM_CONTROL_CONTROL_SPEC_H
00033 #define MECHANISM_CONTROL_CONTROL_SPEC_H
00034 
00035 #pragma GCC diagnostic ignored "-Wextra"
00036 
00037 #include <map>
00038 #include <string>
00039 #include <vector>
00040 #include <pr2_controller_interface/controller.h>
00041 #include <boost/circular_buffer.hpp>
00042 #include <boost/thread/mutex.hpp>
00043 #include <boost/accumulators/accumulators.hpp>
00044 #include <boost/accumulators/statistics/stats.hpp>
00045 #include <boost/accumulators/statistics/max.hpp>
00046 #include <boost/accumulators/statistics/mean.hpp>
00047 #include <boost/accumulators/statistics/variance.hpp>
00048 
00049 typedef boost::accumulators::accumulator_set<
00050   double, boost::accumulators::stats<boost::accumulators::tag::max,
00051                                      boost::accumulators::tag::mean,
00052                                      boost::accumulators::tag::variance> > TimeStatistics;
00053 
00054 struct Statistics {
00055   TimeStatistics acc;
00056   ros::Time time_last_control_loop_overrun;
00057   unsigned int num_control_loop_overruns;
00058   double max;
00059   boost::circular_buffer<double> max1;
00060 Statistics() : num_control_loop_overruns(0), max(0), max1(60) {}
00061 };
00062 
00063 struct ControllerSpec {
00064   std::string name;
00065   boost::shared_ptr<pr2_controller_interface::Controller> c;
00066   boost::shared_ptr<Statistics> stats;
00067   
00068   ControllerSpec() : stats(new Statistics) {}
00069   ControllerSpec(const ControllerSpec &spec)
00070     : name(spec.name), c(spec.c), stats(spec.stats) {}
00071 };
00072 
00073 #endif 
00074 


pr2_controller_manager
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:13