00001 /***************************************************************************/ 00008 #ifndef JOINTCONTROLACTUALFSMWRIST_H_ 00009 #define JOINTCONTROLACTUALFSMWRIST_H_ 00010 00011 #include "robodyn_mechanisms/JointControlActualInterface.h" 00012 00013 class JointControlActualWrist : public JointControlActualInterface 00014 { 00015 public: 00016 JointControlActualWrist(const std::string&, IoFunctions); 00017 virtual ~JointControlActualWrist(); 00018 00019 void getStates(r2_msgs::JointControlData& actualStates); 00020 void updateControlModeState(void); 00021 void updateCommandModeState(void); 00022 void updateCalibrationModeState(void); 00023 void updateClearFaultModeState(void); 00024 void updateCoeffState(void); 00025 void getFaults(diagnostic_msgs::DiagnosticStatus& faultStatus); 00026 00027 protected: 00028 void setParameters(); 00029 const std::string logCategory; 00030 00031 private: 00032 // Live coeffs names 00033 std::string PitchLimitLiveCoeffName; 00034 std::string YawLimitLiveCoeffName; 00035 std::string LittlesideSliderLimitLiveCoeffName; 00036 std::string ThumbsideSliderLimitLiveCoeffName; 00037 std::string SensorErrorLiveCoeffName; 00038 std::string SliderDiffErrorLiveCoeffName; 00039 std::string ControlModeLiveCoeffName; 00040 std::string CommandModeLiveCoeffName; 00041 std::string CalibrationModeLiveCoeffName; 00042 std::string CoeffStateLiveCoeffName; 00043 std::string ClearFaultStateLiveCoeffName; 00044 }; 00045 00046 #endif