Changeset 11 for trunk/extremum_seeking/esc_ros

Timestamp:

08/16/12 15:19:23 (12 years ago)

Author:

wcaarls

Message:

Updated extremum_seeking to revision 1001

Location:

trunk/extremum_seeking/esc_ros

Files:

• include/esc_ros/esc_ros.h (modified) (2 diffs)
• msg/Monitors.msg (added)
• msg/StateValue.msg (added)
• msg/esc_w_state.msg (deleted)
• msg/monitor.msg (deleted)
• src/esc_ros.cpp (modified) (3 diffs)

trunk/extremum_seeking/esc_ros/include/esc_ros/esc_ros.h

@@ -18 +18 @@
 #include <esc_common/esc.h>
 #include <string>
-#include "esc_ros/monitor.h"
-#include "esc_ros/esc_w_state.h"
+#include <esc_ros/Monitors.h>
+#include <esc_ros/StateValue.h>
+
 class ESCROS{
 protected:
@@ -39 +40 @@
 protected:
         virtual void objValCallback(std_msgs::Float32 msg);
-        virtual void objValWithStateCallback(esc_ros::esc_w_state msg);
+        virtual void objValWithStateCallback(esc_ros::StateValue msg);
 
 };

trunk/extremum_seeking/esc_ros/src/esc_ros.cpp

@@ -49 +49 @@
 
         if(monitor_){
-                pub_monitor_ = n_->advertise<esc_ros::monitor>("monitor_out",1);
+                pub_monitor_ = n_->advertise<esc_ros::Monitors>("monitor_out",1);
         }
 
@@ -57 +57 @@
 }
 
-void ESCROS::objValWithStateCallback(esc_ros::esc_w_state msg)
+void ESCROS::objValWithStateCallback(esc_ros::StateValue msg)
 {
-        obj_val_ = msg.obj_val;
-        state_vec_ = msg.states;
+        obj_val_ = msg.value;
+        state_vec_.resize(msg.state.size());
+        for (size_t ii=0; ii < state_vec_.size(); ++ii)
+          state_vec_[ii] = msg.state[ii];
         if(!first_obj_val_received_)
                 first_obj_val_received_ = true;
@@ -97 +99 @@
 
                         if(monitor_){
-                                esc_ros::monitor msg_monitor;
-                                msg_monitor.monitor_values = esc_->monitor();
-                                msg_monitor.monitor_names = esc_->monitorNames();
+                                esc_ros::Monitors msg_monitor;
+                                std::vector<double> values = esc_->monitor();
+                                
+                                msg_monitor.values.resize(values.size());
+                                for (size_t ii=0; ii < values.size(); ++ii)
+                                  msg_monitor.values[ii] = values[ii];
+                                msg_monitor.names = esc_->monitorNames();
                                 pub_monitor_.publish(msg_monitor);
                         }