cartesian_trajectory_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
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Author: Wim Meeussen
00032  */
00033 
00034 #ifndef CARTESIAN_TRAJECTORY_CONTROLLER_H
00035 #define CARTESIAN_TRAJECTORY_CONTROLLER_H
00036 
00037 #include <vector>
00038 #include <string>
00039 #include <kdl/chain.hpp>
00040 #include <kdl/frames.hpp>
00041 #include <kdl/velocityprofile_trap.hpp>
00042 #include <tf/transform_listener.h>
00043 #include <tf/message_filter.h>
00044 #include <ros/ros.h>
00045 #include <geometry_msgs/PoseStamped.h>
00046 #include <pr2_controller_interface/controller.h>
00047 #include <robot_mechanism_controllers/cartesian_pose_controller.h>
00048 #include <pr2_manipulation_controllers/MoveToPose.h>
00049 #include <std_srvs/Empty.h>
00050 #include <boost/scoped_ptr.hpp>
00051 
00052 using namespace controller;
00053 
00054 namespace pr2_manipulation_controllers {
00055 
00056 
00057 class CartesianTrajectoryController : public pr2_controller_interface::Controller
00058 {
00059 public:
00060   CartesianTrajectoryController();
00061   ~CartesianTrajectoryController();
00062 
00063   bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle& n);
00064 
00065   void starting();
00066   void update();
00067   bool moveTo(const geometry_msgs::PoseStamped& pose, 
00068               const geometry_msgs::Twist& tolerance=geometry_msgs::Twist(), double duration=0);
00069   bool checkMoving(pr2_manipulation_controllers::CheckMoving::Request &req, pr2_manipulation_controllers::CheckMoving::Response &res);
00070 
00071 private:
00072   KDL::Frame getPose();
00073   void TransformToFrame(const tf::Transform& trans, KDL::Frame& frame);
00074 
00075   // topic
00076   void command(const tf::MessageFilter<geometry_msgs::PoseStamped>::MConstPtr& pose_msg);
00077 
00078   // service calls
00079   bool moveTo(pr2_manipulation_controllers::MoveToPose::Request &req, pr2_manipulation_controllers::MoveToPose::Response &resp);
00080   bool preempt(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp);
00081 
00082   ros::NodeHandle node_;
00083   ros::ServiceServer move_to_srv_, preempt_srv_, check_moving_srv_;
00084 
00085   std::string controller_name_;
00086   ros::Time last_time_, time_started_;
00087   double time_passed_, max_duration_;
00088   bool is_moving_, request_preempt_, exceed_tolerance_;
00089 
00090   KDL::Frame pose_begin_, pose_end_, pose_current_;
00091   KDL::Twist twist_current_, tolerance_;
00092 
00093   // robot structure
00094   pr2_mechanism_model::RobotState *robot_state_;       
00095   pr2_mechanism_model::Chain chain_;
00096 
00097   // kdl stuff for kinematics
00098   KDL::Chain             kdl_chain_;
00099   boost::scoped_ptr<KDL::ChainFkSolverPos> jnt_to_pose_solver_;
00100   KDL::JntArray          jnt_pos_;
00101 
00102   // motion profiles
00103   std::vector<KDL::VelocityProfile_Trap> motion_profile_;
00104 
00105   // pose controller
00106   CartesianPoseController* pose_controller_;
00107 
00108   tf::TransformListener tf_;
00109   //boost::scoped_ptr<tf::MessageFilter<geometry_msgs::PoseStamped> > command_notifier_;
00110   //ros::Subscriber command_sub_;
00111 
00112   std::string root_name_;
00113 };
00114 
00115 
00116 }
00117 #endif


pr2_manipulation_controllers
Author(s): Kaijen Hsiao, Stu Glaser, Adam Leeper
autogenerated on Mon Oct 6 2014 12:10:46