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arm_control.h

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/*
 * arm_control.h
 *
 *  Created on: Jun 30, 2010
 *      Author: christian
 */

#ifndef ARM_CONTROL_H_
#define ARM_CONTROL_H_

#include <string>
#include <cmath>

#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <actionlib/client/simple_action_client.h>
#include <tf/transform_datatypes.h>
#include <arm_navigation_msgs/MoveArmAction.h>
#include <kinematics_msgs/GetPositionIK.h>







namespace simple_robot_control{


using ::std::string;
using ::std::vector;


class Arm{
private:
                const static double wrist_speed_ = 2.0; //2 seconds per revolution
                const static double gripperlength = 0.18;



          vector<string> joint_names;
          string armside_str;
          string group_name;
          actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction>* move_arm_client_;
          actionlib::SimpleActionClient< pr2_controllers_msgs::JointTrajectoryAction > traj_client_;

          ros::ServiceClient ik_service_client_;
          ros::NodeHandle nh_;


          vector<double> current_joint_angles_;

public:


          Arm(char arm_side, bool collision_checking = true);


          ~Arm();

          //joint angle control

          bool goToJointPos (const vector<double>& positions , double max_time = 3.0, bool wait = true );


          bool goToJointPosWithCollisionChecking (const vector<double>& positions, double max_time = 3.0, bool wait = true );


          bool rotateWrist(double radians, double wrist_speed = wrist_speed_ ,bool wait = true);



          //euclidian position control

          bool getIK(const geometry_msgs::PoseStamped& pose,  vector<double>& joint_angles, vector<double>* ik_seed_pos = NULL);


          vector<double> getCurrentJointAngles();



          enum approach_direction_t { FRONTAL, FROM_BELOW, FROM_ABOVE, FROM_RIGHT_SIDEWAYS, FROM_RIGHT_UPRIGHT, FROM_LEFT_UPRIGHT, FROM_LEFT_SIDEWAYS};
          bool moveGripperToPosition(const tf::Vector3& position,  string frame_id, approach_direction_t approach = FRONTAL,  double max_time =5.0, bool wait=true, vector<double>* ik_seed_pos = 0  );


          bool moveGrippertoPositionWithCollisionChecking(const tf::Vector3& position,  string frame_id, approach_direction_t approach = FRONTAL,  double max_time =5.0, bool wait=true, std::string planner = "ompl"  );


          bool moveGrippertoPose(const tf::StampedTransform& pose,   double max_time =5.0, bool wait=true, vector<double>* ik_seed_pos = 0  );

          bool moveGrippertoPoseWithCollisionChecking(const tf::StampedTransform& pose,  double max_time =5.0, bool wait=true, std::string planner = "ompl" );


          bool moveGrippertoPoseWithOrientationConstraints(const tf::StampedTransform& tf, bool keep_roll, bool keep_pitch, bool keep_yaw, double max_time =5.0, bool wait=true, double tolerance = 0.2);






          bool moveWristRollLinktoPose(const tf::StampedTransform& pose,  double max_time =5.0, bool wait=true, vector<double>* ik_seed_pos = 0  );

          bool moveWristRollLinktoPose(const geometry_msgs::PoseStamped& pose,  double max_time =5.0, bool wait=true, vector<double>* ik_seed_pos = 0 );

          bool moveWristRollLinktoPoseWithCollisionChecking(const geometry_msgs::PoseStamped& pose,  double max_time =5.0, bool wait=true, std::string planner = "ompl"  );


          bool moveWristRollLinktoPoseWithCollisionChecking(const tf::StampedTransform& pose,  double max_time =5.0, bool wait=true, std::string planner = "ompl"  );


          bool moveWristRollLinktoPoseWithOrientationConstraints(const tf::StampedTransform& pose, bool keep_roll, bool keep_pitch, bool keep_yaw, double max_time =5.0, bool wait=true, double tolerance = 0.2);


          bool moveWristRollLinktoPoseWithOrientationConstraints(const geometry_msgs::PoseStamped& pose, bool keep_roll, bool keep_pitch, bool keep_yaw, double max_time =5.0, bool wait=true, double tolerance = 0.2 );


          bool goToJointPos (const double* positions , int num_positions, double max_time = 3.0, bool wait = true );

          bool updateJointStatePos();


          bool isAtPos(const std::vector<double>& pos_vec);

          bool tuck();

          bool stretch();




private:
          tf::StampedTransform gripperToWrist(const tf::StampedTransform& pose);
          tf::StampedTransform wristToGripper(const tf::StampedTransform& pose);
          tf::StampedTransform makePose(const tf::Vector3& position, string frame_id, approach_direction_t approach);





};
}

#endif /* ARM_CONTROL_H_ */

---

simple_robot_control
Author(s): Christian Bersch, Sebastian Haug (Maintained by Benjamin Pitzer)
autogenerated on Mon Mar 4 11:12:09 2013