wam_controller_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _wam_controller_driver_h_
#define _wam_controller_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_wam_controller/WamControllerConfig.h>
#include <trajectory_msgs/JointTrajectory.h> 

//include wam_controller_driver main library
#include "wamdriver.h"

const bool HOLDON(true);
const bool HOLDOFF(false);

class WamControllerDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    std::string robot_name_; 
    wamDriver *wam_; 
    trajectory_msgs::JointTrajectoryPoint desired_joint_trajectory_point_;  
  public:
    typedef iri_wam_controller::WamControllerConfig Config;

    Config config_;

    WamControllerDriver(void);

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all wam_controller_driver interface methods to retrieve and set
    // the driver parameters

    ~WamControllerDriver(void);
    
    
    void get_pose(std::vector<double> *pose);
    void get_joint_angles(std::vector<double> *angles);

    std::string get_robot_name(); 
    inline size_t get_num_joints() {return NJOINTS;};
    bool is_joints_move_request_valid(const std::vector<double> & angles);

    bool is_moving();
    bool is_joint_trajectory_result_succeeded();

    trajectory_msgs::JointTrajectoryPoint get_desired_joint_trajectory_point();

    void move_trajectory_in_joints(const trajectory_msgs::JointTrajectory & trajectory);
    void stop_trajectory_in_joints();
    void move_in_joints(std::vector<double> *angles, std::vector<double>* vels = NULL, std::vector<double>* accs = NULL);
    void wait_move_end();
    void hold_on();
    void hold_off();
    bool is_moving_trajectory();
 };

#endif