cartesian_pose_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
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00069 #ifndef CARTESIAN_POSE_CONTROLLER_H
00070 #define CARTESIAN_POSE_CONTROLLER_H
00071 
00072 #include <vector>
00073 #include <boost/scoped_ptr.hpp>
00074 #include <boost/thread/condition.hpp>
00075 
00076 #include <ros/node_handle.h>
00077 
00078 #include <geometry_msgs/PoseStamped.h>
00079 #include <geometry_msgs/Twist.h>
00080 
00081 #include <control_toolbox/pid.h>
00082 #include <kdl/chainfksolver.hpp>
00083 #include <kdl/chain.hpp>
00084 #include <kdl/chainjnttojacsolver.hpp>
00085 #include <kdl/frames.hpp>
00086 #include <message_filters/subscriber.h>
00087 #include <pr2_controller_interface/controller.h>
00088 #include <pr2_mechanism_model/chain.h>
00089 #include <realtime_tools/realtime_publisher.h>
00090 #include <tf/message_filter.h>
00091 #include <tf/transform_datatypes.h>
00092 #include <tf/transform_listener.h>
00093 
00094 
00095 namespace controller {
00096 
00097 class CartesianPoseController : public pr2_controller_interface::Controller
00098 {
00099 public:
00100   CartesianPoseController();
00101   ~CartesianPoseController();
00102 
00103   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00104   void starting();
00105   void update();
00106 
00107   void command(const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
00108 
00109   // input of the controller
00110   KDL::Frame pose_desi_, pose_meas_;
00111   KDL::Twist twist_ff_;
00112 
00113   // state output
00114   KDL::Twist twist_error_;
00115 
00116 private:
00117   KDL::Frame getPose();
00118 
00119   ros::NodeHandle node_;
00120   std::string controller_name_, root_name_;
00121   ros::Time last_time_;
00122 
00123   // robot structure
00124   pr2_mechanism_model::RobotState *robot_state_;
00125   pr2_mechanism_model::Chain chain_;
00126 
00127   // pid controllers
00128   std::vector<control_toolbox::Pid> pid_controller_;
00129 
00130   // kdl stuff for kinematics
00131   KDL::Chain             kdl_chain_;
00132   boost::scoped_ptr<KDL::ChainFkSolverPos> jnt_to_pose_solver_;
00133   boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
00134   KDL::JntArray          jnt_pos_;
00135   KDL::JntArray       jnt_eff_;
00136   KDL::Jacobian jacobian_;
00137 
00138   // reatltime publisher
00139   boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::Twist> > state_error_publisher_;
00140   boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> > state_pose_publisher_;
00141   unsigned int loop_count_;
00142 
00143   tf::TransformListener tf_;
00144   message_filters::Subscriber<geometry_msgs::PoseStamped> sub_command_;
00145   boost::scoped_ptr<tf::MessageFilter<geometry_msgs::PoseStamped> > command_filter_;
00146   //boost::scoped_ptr<tf::MessageNotifier<geometry_msgs::PoseStamped> > command_notifier_;
00147 };
00148 
00149 } // namespace
00150 
00151 
00152 #endif


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:37