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