| 1 | /* |
|---|
| 2 | * esc_ros.h |
|---|
| 3 | * |
|---|
| 4 | * Created on: Jul 26, 2012 |
|---|
| 5 | * Author: Berk Calli, Wouter Caarls |
|---|
| 6 | * Organization: Delft Biorobotics Lab., Delft University of Technology |
|---|
| 7 | * Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl |
|---|
| 8 | * |
|---|
| 9 | * Header of the ROS wrapper for extremum seeking control nodes. |
|---|
| 10 | */ |
|---|
| 11 | |
|---|
| 12 | #ifndef ESC_ROS_H_ |
|---|
| 13 | #define ESC_ROS_H_ |
|---|
| 14 | |
|---|
| 15 | #include <ros/ros.h> |
|---|
| 16 | #include <std_msgs/Float32.h> |
|---|
| 17 | #include <std_msgs/Float32MultiArray.h> |
|---|
| 18 | #include <std_msgs/Bool.h> |
|---|
| 19 | #include <std_msgs/Empty.h> |
|---|
| 20 | #include <esc_common/esc.h> |
|---|
| 21 | #include <string> |
|---|
| 22 | #include <esc_ros/Monitors.h> |
|---|
| 23 | #include <esc_ros/StateValue.h> |
|---|
| 24 | |
|---|
| 25 | class ESCROS{ |
|---|
| 26 | protected: |
|---|
| 27 | ESC* esc_; |
|---|
| 28 | ros::Publisher pub_ref_, pub_monitor_, pub_stopped_; |
|---|
| 29 | ros::Subscriber sub_obj_val_, sub_enable_; |
|---|
| 30 | ros::NodeHandle* n_; |
|---|
| 31 | double obj_val_; |
|---|
| 32 | std::vector<double> state_vec_; |
|---|
| 33 | bool initialized_, monitor_, first_obj_val_received_,enabled_, reference_zeroed_; |
|---|
| 34 | double period_; |
|---|
| 35 | unsigned int opt_dim_; |
|---|
| 36 | |
|---|
| 37 | public: |
|---|
| 38 | ESCROS(ros::NodeHandle* n=NULL); |
|---|
| 39 | virtual void init(ESC* esc); |
|---|
| 40 | virtual void step(); |
|---|
| 41 | virtual void spin(); |
|---|
| 42 | virtual void reset(); |
|---|
| 43 | virtual void enableCallback(std_msgs::Bool msg); |
|---|
| 44 | virtual ~ESCROS(){}; |
|---|
| 45 | protected: |
|---|
| 46 | virtual void objValCallback(std_msgs::Float32 msg); |
|---|
| 47 | virtual void objValWithStateCallback(esc_ros::StateValue msg); |
|---|
| 48 | |
|---|
| 49 | }; |
|---|
| 50 | |
|---|
| 51 | |
|---|
| 52 | |
|---|
| 53 | |
|---|
| 54 | #endif /* ESC_ROS_H_ */ |
|---|
