00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* 00036 Author: Daniel Hennes 00037 */ 00038 00039 #include <ros/ros.h> 00040 #include <sensor_msgs/JointState.h> 00041 #include <collision_detection/JointState.h> 00042 00043 #include "collision_detection/SolverNode.h" 00044 #include "collision_detection/InverseDynamicsSolverWBC.h" 00045 00046 int main( int argc, char** argv ) 00047 { 00048 ros::init(argc, argv, "solver_node"); 00049 ros::NodeHandle n("~"); 00050 00051 std::string sai_xml_fname; 00052 n.param("sai_xml", sai_xml_fname, std::string("robot.sai.xml")); 00053 00054 XmlRpc::XmlRpcValue joint_list; 00055 std::vector<std::string> joint_names; 00056 00057 n.getParam("joints", joint_list); 00058 ROS_ASSERT(joint_list.getType() == XmlRpc::XmlRpcValue::TypeArray); 00059 for (int32_t i = 0; i < joint_list.size(); i++) { 00060 ROS_ASSERT(joint_list[i].getType() == XmlRpc::XmlRpcValue::TypeString); 00061 joint_names.push_back(static_cast<std::string>(joint_list[i])); 00062 } 00063 00064 InverseDynamicsSolverWBC solver = 00065 InverseDynamicsSolverWBC(sai_xml_fname); 00066 00067 SolverNode solver_node(solver, joint_names); 00068 00069 ros::spin(); 00070 }