joint_diagnostics.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  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 Willow Garage 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.
 *********************************************************************/


#ifndef _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
#define _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_

#include <vector>
#include <float.h>

#include <boost/shared_ptr.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/min.hpp>

#include <ros/ros.h>
#include <pr2_mechanism_msgs/MechanismStatistics.h>
#include <pr2_mechanism_msgs/JointStatistics.h>
#include <pr2_mechanism_msgs/ActuatorStatistics.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <urdf_interface/joint.h>

namespace pr2_mechanism_diagnostics
{

template<typename T>
inline bool is_valid(T t)
{
  if (t == 0)
    return true;

  return boost::math::isnormal(t);
}

class JointStats 
{
private:
  ros::Time updateTime;

  mutable bool needs_reset;

  std::string name;
  double position;
  double velocity;
  double measured_effort;
  double commanded_effort;
  bool is_calibrated;
  bool violated_limits;
  double odometer;

  // Store min/max positions, etc for joint since last diagnostic publish
  double max_pos_val, min_pos_val, max_abs_vel_val, max_abs_eff_val;

  void reset_vals(); 
public:
  JointStats(std::string nam);

  ~JointStats() { }

  bool update(const pr2_mechanism_msgs::JointStatistics &js);

  boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const;
};

}

#endif // _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_