joint_gravity_controller.h

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#ifndef JOINT_GRAVITY_CONTROLLER_H
#define JOINT_GRAVITY_CONTROLLER_H

#include <ros/node_handle.h>

#include <pr2_controller_interface/controller.h>
#include <control_toolbox/pid.h>
#include "control_toolbox/pid_gains_setter.h"
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Float64.h>
#include <pr2_controllers_msgs/JointControllerState.h>

namespace controller
{

class JointGravityController : public pr2_controller_interface::Controller
{
public:

  JointGravityController();
  ~JointGravityController();

  bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name,const control_toolbox::Pid &pid);
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void setCommand(double cmd);

   void getCommand(double & cmd);

  virtual void starting() {
    command_ = joint_state_->position_;
  }

  virtual void update();

  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
  void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);

  std::string getJointName();
  pr2_mechanism_model::JointState *joint_state_;        
  ros::Duration dt_;
  double command_;                            
private:
  int loop_count_;
  bool initialized_;
  pr2_mechanism_model::RobotState *robot_;              
  control_toolbox::Pid pid_controller_;       
  ros::Time last_time_;                          
  ros::NodeHandle node_;

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;

  ros::Subscriber sub_command_;
  void setCommandCB(const std_msgs::Float64ConstPtr& msg);
};

} // namespace

#endif