joint_diagnostics.h
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00034 
00037 
00038 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
00039 #define _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_
00040 
00041 #include <vector>
00042 #include <float.h>
00043 
00044 #include <boost/shared_ptr.hpp>
00045 #include <boost/math/special_functions/fpclassify.hpp>
00046 #include <boost/accumulators/accumulators.hpp>
00047 #include <boost/accumulators/statistics/max.hpp>
00048 #include <boost/accumulators/statistics/min.hpp>
00049 
00050 #include <ros/ros.h>
00051 #include <pr2_mechanism_msgs/MechanismStatistics.h>
00052 #include <pr2_mechanism_msgs/JointStatistics.h>
00053 #include <pr2_mechanism_msgs/ActuatorStatistics.h>
00054 #include <diagnostic_updater/DiagnosticStatusWrapper.h>
00055 
00056 namespace pr2_mechanism_diagnostics
00057 {
00058 
00060 template<typename T>
00061 inline bool is_valid(T t)
00062 {
00063   if (t == 0)
00064     return true;
00065 
00066   return boost::math::isnormal(t);
00067 }
00068 
00076 class JointStats 
00077 {
00078 private:
00079   ros::Time updateTime;
00080 
00081   mutable bool needs_reset;
00082 
00083   std::string name;
00084   double position;
00085   double velocity;
00086   double measured_effort;
00087   double commanded_effort;
00088   bool is_calibrated;
00089   bool violated_limits;
00090   double odometer;
00091 
00092   // Store min/max positions, etc for joint since last diagnostic publish
00093   double max_pos_val, min_pos_val, max_abs_vel_val, max_abs_eff_val;
00094 
00095   void reset_vals(); 
00097 public:
00098   JointStats(std::string nam);
00099 
00100   ~JointStats() { }
00101 
00102   bool update(const pr2_mechanism_msgs::JointStatistics &js);
00103 
00104   boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const;
00105 };
00106 
00107 }
00108 
00109 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_JOINT_DIAG_


pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Wed Aug 26 2015 15:37:23