00001 /* 00002 * Copyright (c) 2010, Robot Control and Pattern Recognition Group, Warsaw University of Technology. 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 Robot Control and Pattern Recognition Group, 00014 * Warsaw University of Technology nor the names of its contributors may 00015 * be used to endorse or promote products derived from this software 00016 * without specific prior written permission. 00017 * 00018 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00019 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00020 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00021 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00022 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00023 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00024 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00025 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00026 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00027 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00028 * POSSIBILITY OF SUCH DAMAGE. 00029 */ 00030 00031 /* 00032 * JointSplineTrajectoryGenerator.h 00033 * 00034 * Created on: 22-09-2010 00035 * Author: Konrad Banachowicz 00036 */ 00037 00038 #ifndef JOINTSPLINETRAJECTORYGENERATOR_H_ 00039 #define JOINTSPLINETRAJECTORYGENERATOR_H_ 00040 00041 #include <string> 00042 #include <vector> 00043 00044 #include <rtt/TaskContext.hpp> 00045 #include <rtt/Port.hpp> 00046 #include <rtt/Property.hpp> 00047 00048 #include "velocityprofile_spline.hpp" 00049 00050 #include <trajectory_msgs/JointTrajectoryPoint.h> 00051 00052 class JointSplineTrajectoryGenerator : public RTT::TaskContext { 00053 public: 00054 explicit JointSplineTrajectoryGenerator(const std::string& name); 00055 virtual ~JointSplineTrajectoryGenerator(); 00056 00057 virtual bool configureHook(); 00058 virtual bool startHook(); 00059 virtual void updateHook(); 00060 00061 protected: 00062 RTT::InputPort<trajectory_msgs::JointTrajectoryPoint> trajectory_point_port_; 00063 RTT::OutputPort<bool> buffer_ready_port_; 00064 00065 RTT::OutputPort<std::vector<double> > jnt_pos_port_; 00066 RTT::InputPort<std::vector<double> > cmd_jnt_pos_port_; 00067 00068 RTT::OutputPort<bool> trajectory_compleat_port_; 00069 00070 RTT::InputPort<double> command_period_port_; 00071 00072 RTT::Property<int> number_of_joints_prop_; 00073 private: 00074 00075 std::vector<KDL::VelocityProfile_Spline> vel_profile_; 00076 00077 trajectory_msgs::JointTrajectoryPoint trajectory_old_; 00078 trajectory_msgs::JointTrajectoryPoint trajectory_new_; 00079 00080 std::vector<double> des_jnt_pos_; 00081 00082 unsigned int number_of_joints_; 00083 bool trajectory_ready_; 00084 bool buffer_ready_; 00085 00086 int64_t time_; 00087 int64_t end_time_; 00088 double dt_; 00089 }; 00090 00091 #endif /* JOINTSPLINETRAJECTORYGENERATOR_H_ */