base_kinematics.h

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/*
 * Author: Sachin Chitta and Matthew Piccoli
 */

#ifndef PR2_BASE_KINEMATICS_H
#define PR2_BASE_KINEMATICS_H

#include <pr2_mechanism_model/robot.h>
#include <pr2_controller_interface/controller.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <control_toolbox/filters.h>
#include <boost/thread/condition.hpp>

namespace controller
{
  class Wheel;
  class Caster;
  class BaseKinematics;
  class Wheel
  {
    public:

      pr2_mechanism_model::JointState *joint_;

      geometry_msgs::Point offset_;

      std::string joint_name_;

      std::string link_name_;


      geometry_msgs::Point position_;

      Caster *parent_;

      double wheel_speed_actual_;

      double wheel_speed_cmd_;

      double wheel_speed_error_;

      double wheel_speed_filtered_;

      int direction_multiplier_;

      int wheel_stuck_;

      double wheel_radius_;

      bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name);

      void updatePosition();
  };

  class Caster
  {
    public:

      pr2_mechanism_model::JointState *joint_;

      geometry_msgs::Point offset_;

      std::string link_name_;

      std::string joint_name_;

      //geometry_msgs::Point position_;

      BaseKinematics *parent_;

      int num_children_;

      double steer_angle_actual_;

      double steer_angle_desired_;

      double steer_velocity_desired_;

      double steer_angle_stored_;

      double caster_position_error_;

      double caster_speed_error_;

      double caster_speed_filtered_;

      double caster_speed_;

      int caster_stuck_;

      bool init(pr2_mechanism_model::RobotState *robot_state,  ros::NodeHandle &node, std::string link_name);
  };

  class BaseKinematics
  {
    public:

    bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node);

      void computeWheelPositions();

      geometry_msgs::Twist pointVel2D(const geometry_msgs::Point& pos, const geometry_msgs::Twist& vel);

      pr2_mechanism_model::RobotState *robot_state_;

      int num_wheels_;

      int num_casters_;

      std::vector<Wheel> wheel_;

      std::vector<Caster> caster_;

      std::string xml_caster_name_;

      std::string xml_wheel_name_;

      std::string name_;

      double MAX_DT_;

      std::string robot_base_id_;
  };
} // namespace
#endif