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cartesian_wrench_controller.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef CARTESIAN_WRENCH_CONTROLLER_H
#define CARTESIAN_WRENCH_CONTROLLER_H

#include <vector>
#include <kdl/chain.hpp>
#include <kdl/frames.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <ros/node_handle.h>
#include <geometry_msgs/Wrench.h>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/chain.h>
#include <tf/transform_datatypes.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>


namespace controller {

class CartesianWrenchController : public pr2_controller_interface::Controller
{
public:
  CartesianWrenchController();
  ~CartesianWrenchController();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void starting();
  void update();

  // input of the controller
  KDL::Wrench wrench_desi_;

private:
  ros::NodeHandle node_;
  ros::Subscriber sub_command_;
  void command(const geometry_msgs::WrenchConstPtr& wrench_msg);
  pr2_mechanism_model::RobotState *robot_state_;
  pr2_mechanism_model::Chain chain_;

  KDL::Chain kdl_chain_;
  boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_;
  KDL::JntArray jnt_pos_, jnt_eff_;
  KDL::Jacobian jacobian_;

};

} // namespace


#endif

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robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Mar 1 16:52:31 2013