joint_group_position_controller.h

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/*
 * Software License Agreement (Modified BSD License)
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 *  Copyright (c) 2011, PAL Robotics, S.L.
 *  Copyright (c) 2008, Willow Garage, Inc.
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#ifndef JOINT_GROUP_POSITION_CONTROLLER_H
#define JOINT_GROUP_POSITION_CONTROLLER_H

// C++ standard headers
#include <cstddef>
#include <string>
#include <vector>

// ROS headers
#include <ros/node_handle.h>
#include <control_toolbox/pid.h>
#include <pr2_controller_interface/controller.h>
#include <sensor_msgs/JointState.h>

namespace controller
{


class JointGroupPositionController : public pr2_controller_interface::Controller
{
public:
  typedef std::vector<control_toolbox::Pid> PidList;
  typedef std::vector<double>               JointErrorList;
  typedef std::vector<double>               JointPosList;
  typedef std::vector<int>                  JointStateToCmd;

  JointGroupPositionController();
  ~JointGroupPositionController();

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

  virtual void starting();
  virtual void update();

private:
  pr2_mechanism_model::RobotState *robot_;
  ros::Time last_time_;
  std::vector<pr2_mechanism_model::JointState*> joints_;
  PidList pids_;
  JointPosList    ref_pos_;
  JointErrorList  errors_;
  JointStateToCmd lookup_;

  ros::NodeHandle node_;

  void commandCB(const sensor_msgs::JointState::ConstPtr &command);
  ros::Subscriber sub_command_;
};


} // controller

#endif // JOINT_GROUP_POSITION_CONTROLLER_H