projector_controller.h

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#ifndef PROJECTOR_CONTROLLER_H
#define PROJECTOR_CONTROLLER_H
 
#include <ros/node_handle.h>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/robot.h>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Header.h>
#include <boost/scoped_ptr.hpp>
 
namespace controller
{
class ProjectorController : public pr2_controller_interface::Controller
{
public:
  ProjectorController();
 
  ~ProjectorController();
 
  void update();
  void starting();
  void stopping();
 
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
 
private:
  pr2_mechanism_model::RobotState * robot_;
  pr2_hardware_interface::Projector *projector_;
 
  uint32_t old_rising_;
  uint32_t old_falling_;
 
  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      std_msgs::Header> > rising_edge_pub_, falling_edge_pub_;
 
  ros::NodeHandle node_handle_;
 
  // Configuration of controller.
  std::string actuator_name_;
 
  double current_setting_;
 
  double start_time_; 
};
 
};
 
#endif