wam_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_driver_h_
#define _wam_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_wam_wrapper/WamConfig.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <geometry_msgs/Pose.h>

//include wam_driver main library
//#include "CWamDriver.h"
//#include "wamdriver.h"

struct ForceRequest
{
    enum Tstatus {
        QUIET,
        ONGOING,
        FAILED,
        SUCCESS
    };

    Tstatus status;
    double force_value;

    void init()
    {
        status      = QUIET;
        force_value = 0.0;
    }

    void success_response(double v)
    {
        status      = SUCCESS;
        force_value = v;
    }

    bool is_estimate_force_request_finish()
    {
        return (status != ONGOING);
    }

    bool was_estimate_force_request_succedded()
    {
        return (status == SUCCESS);
    }
};

class WamDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    std::string robot_name_;
    std::string wamserver_ip;
    int server_port;
    int state_refresh_rate;
    wamDriver *wam_;
    boost::shared_ptr<ForceRequest> force_request_;

    trajectory_msgs::JointTrajectoryPoint desired_joint_trajectory_point_;

    bool is_joints_move_request_valid(const std::vector<double> & angles);

  public:
    typedef iri_wam_wrapper::WamConfig Config;

    Config config_;

    WamDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

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

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

    ~WamDriver();
    std::string get_robot_name();
    int get_num_joints();

    bool is_moving();
    bool is_joint_trajectory_result_succeeded();
    void wait_move_end();
    void get_pose(std::vector<double> *pose);
    void get_joint_angles(std::vector<double> *angles);
    void move_in_joints(std::vector<double> *angles, std::vector<double>* vels = NULL, std::vector<double>* accs = NULL);
    void hold_current_position(bool on);
    void move_in_cartesian_pose(const geometry_msgs::Pose pose, const double vel = 0, const double acc = 0);

    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_trajectory_learnt_and_estimate_force(const std::string model_filename,
                                                   const std::string points_filename);

    const boost::shared_ptr<ForceRequest> get_force_request_info()
    {
        return force_request_;
    }

    void start_dmp_tracker(const std::vector<double> * initial, const std::vector<double> * goal);

    void dmp_tracker_new_goal(const std::vector<double> * new_goal);

    void jnt_pos_cmd_callback(const std::vector<float> * joints,
                              const std::vector<float> * rate_limits);
};

#endif