multi_joint_velocity_controller.h
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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
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00028  */
00029 
00037 #ifndef MULTI_JOINT_VELOCITY_CONTROLLER_H__
00038 #define MULTI_JOINT_VELOCITY_CONTROLLER_H__
00039 
00040 #include <vector>
00041 
00042 #include <boost/scoped_ptr.hpp>
00043 #include <boost/thread/recursive_mutex.hpp>
00044 #include <boost/thread/condition.hpp>
00045 #include <ros/node_handle.h>
00046 
00047 #include <control_toolbox/pid.h>
00048 #include <filters/filter_chain.h>
00049 #include <pr2_controller_interface/controller.h>
00050 #include <realtime_tools/realtime_publisher.h>
00051 
00052 #include <std_msgs/Float64MultiArray.h>
00053 #include <pr2_controllers_msgs/JointTrajectoryControllerState.h>
00054 
00055 
00056 namespace controller {
00057 
00058 
00059 class MultiJointVelocityController : public pr2_controller_interface::Controller
00060 {
00061 public:
00062 
00063   MultiJointVelocityController();
00064   ~MultiJointVelocityController();
00065 
00066   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00067 
00068   void starting();
00069   void update();
00070 
00071 private:
00072   int loop_count_;
00073   pr2_mechanism_model::RobotState *robot_;
00074   ros::Time last_time_;
00075   std::vector<pr2_mechanism_model::JointState*> joints_;
00076   std::vector<control_toolbox::Pid> pids_;
00077 
00078   std::vector<boost::shared_ptr<filters::FilterChain<double> > > output_filters_;
00079 
00080   ros::NodeHandle node_;
00081 
00082   void commandCB(const std_msgs::Float64MultiArray::ConstPtr &msg);
00083   ros::Subscriber sub_command_;
00084 
00085   boost::scoped_ptr<
00086     realtime_tools::RealtimePublisher<
00087       pr2_controllers_msgs::JointTrajectoryControllerState> > controller_state_publisher_;
00088 
00089   // ------ Mechanisms for passing the commands into realtime
00090   //        (double buffering for commanded velocities, and guarded copy operation)
00091 
00092   boost::mutex command_mutex_;
00093   std::vector<double> command_;
00094 };
00095 
00096 }
00097 
00098 #endif
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ias_mechanism_controllers
Author(s): Lorenz Moesenlechner, Ingo Kresse
autogenerated on Thu May 23 2013 10:34:13