head_position_controller.h

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/*
 * \author Melonee Wise
 * 
 * This controls the PR2 head using a position controller on the pan and
 * tilt joints.
 */

#ifndef HEAD_POSITION_CONTROLLER_H
#define HEAD_POSITION_CONTROLLER_H

#include <ros/node_handle.h>
#include <pr2_controller_interface/controller.h>
#include <robot_mechanism_controllers/joint_position_controller.h>
#include <sensor_msgs/JointState.h>
#include <boost/scoped_ptr.hpp>

namespace joint_qualification_controllers {

class HeadPositionController : public pr2_controller_interface::Controller
{
public:
  HeadPositionController();
  ~HeadPositionController();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void starting();
  void update();

  // input of the controller
  double pan_out_, tilt_out_;

private:

  ros::NodeHandle node_;
  std::string pan_link_name_, tilt_link_name_;
  pr2_mechanism_model::RobotState *robot_state_;
  ros::Subscriber sub_command_;

  void command(const sensor_msgs::JointStateConstPtr& command_msg);

  // position controller
  controller::JointPositionController head_pan_controller_;
  controller::JointPositionController head_tilt_controller_;


};

}


#endif