joint_effort_controller.h
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00034 
00035 #ifndef JOINT_EFFORT_CONTROLLER_H
00036 #define JOINT_EFFORT_CONTROLLER_H
00037 
00054 #include <boost/thread/condition.hpp>
00055 #include <ros/node_handle.h>
00056 #include <pr2_controller_interface/controller.h>
00057 
00058 #include <std_msgs/Float64.h>
00059 
00060 
00061 namespace controller
00062 {
00063 
00064 class JointEffortController : public pr2_controller_interface::Controller
00065 {
00066 public:
00067 
00068   JointEffortController();
00069   ~JointEffortController();
00070 
00071   bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name);
00072   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00073 
00074   virtual void starting() { command_ = 0.0;}
00075   virtual void update();
00076 
00077   pr2_mechanism_model::JointState *joint_state_;
00078 
00079   double command_;
00080 
00081 private:
00082   pr2_mechanism_model::RobotState *robot_;
00083 
00084   ros::NodeHandle node_;
00085   ros::Subscriber sub_command_;
00086   void commandCB(const std_msgs::Float64ConstPtr& msg);
00087 
00088 };
00089 
00090 }
00091 
00092 #endif


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Thu Aug 27 2015 14:22:45