pr2_mechanism_model: chain.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // Author: Stuart Glaser
00031 
00032 #ifndef MECHANISM_MODEL_CHAIN_H
00033 #define MECHANISM_MODEL_CHAIN_H
00034 
00035 #include "pr2_mechanism_model/robot.h"
00036 #include <kdl/chain.hpp>
00037 #include <kdl/jntarray.hpp>
00038 #include <kdl/jntarrayvel.hpp>
00039 #include <kdl/jntarrayacc.hpp>
00040 
00041 namespace pr2_mechanism_model {
00042 
00043 class Chain
00044 {
00045 public:
00046   Chain() {}
00047   ~Chain() {}
00048 
00056   bool init(RobotState *robot_state, const std::string &root, const std::string &tip);
00057 
00059   void getPositions(std::vector<double>&);
00061   void getPositions(KDL::JntArray&);
00063   template <class Vec>
00064   void getPositions(Vec &v)
00065   {
00066     assert((int)v.size() == (int)joints_.size());
00067     for (size_t i = 0; i < joints_.size(); ++i)
00068       v[i] = joints_[i]->position_;
00069   }
00070 
00072   void getVelocities(std::vector<double>&);
00074   void getVelocities(KDL::JntArrayVel&);
00076   template <class Vec>
00077   void getVelocities(Vec &v)
00078   {
00079     assert((int)v.size() == (int)joints_.size());
00080     for (size_t i = 0; i < joints_.size(); ++i)
00081       v[i] = joints_[i]->velocity_;
00082   }
00083 
00084 
00086   void getEfforts(std::vector<double>&);
00088   void getEfforts(KDL::JntArray&);
00089 
00091   void setEfforts(KDL::JntArray&);
00093   void addEfforts(KDL::JntArray&);
00094 
00098   template <class Vec>
00099   void addEfforts(const Vec& v)
00100   {
00101     assert((int)v.size() == (int)joints_.size());
00102     for (size_t i = 0; i < joints_.size(); ++i)
00103       joints_[i]->commanded_effort_ += v[i];
00104   }
00105 
00107   bool allCalibrated();
00108 
00110   void toKDL(KDL::Chain &chain);
00111 
00117   JointState* getJoint(unsigned int actuated_joint_i);
00118 
00120   int size() const { return joints_.size(); }
00121 
00122 private:
00123   pr2_mechanism_model::RobotState *robot_state_;
00124   KDL::Chain kdl_chain_;
00125 
00126   std::vector< JointState* > joints_;  // ONLY joints that can be actuated (not fixed joints)
00127 };
00128 
00129 }
00130 
00131 #endif