robot.h

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/*
 * The robot model tracks the state of the robot.
 *
 * State path:
 *               +---------------+
 * Actuators --> | Transmissions | --> Joints
 *               +---------------+
 *
 * Author: Stuart Glaser
 */

#ifndef ROBOT_H
#define ROBOT_H

#include <vector>
#include <map>
#include <string>
#include <urdf/model.h>
#include <pr2_hardware_interface/hardware_interface.h>
#include <hardware_interface/hardware_interface.h>
#include "pr2_mechanism_model/joint.h"
#include "pr2_mechanism_model/transmission.h"

class TiXmlElement;

// Forward declared to avoid extra includes
namespace pluginlib {
template <class T> class ClassLoader;
}

namespace pr2_mechanism_model
{


class Robot
{
public:
  Robot(pr2_hardware_interface::HardwareInterface *hw);

  ~Robot()
  {
    for (unsigned int i=0; i< transmissions_.size(); i++){
      if (transmissions_[i]){
        delete transmissions_[i];
        transmissions_[i] = NULL;
      }
    }
  }

  bool initXml(TiXmlElement *root);

  urdf::Model robot_model_;

  std::vector<Transmission*> transmissions_;

  int getTransmissionIndex(const std::string &name) const;

  pr2_hardware_interface::Actuator* getActuator(const std::string &name) const;

  pr2_mechanism_model::Transmission* getTransmission(const std::string &name) const;

  ros::Time getTime();

  pr2_hardware_interface::HardwareInterface* hw_;

private:
  boost::shared_ptr<pluginlib::ClassLoader<pr2_mechanism_model::Transmission> > transmission_loader_;
};



class RobotState : public hardware_interface::HardwareInterface
{
public:
  RobotState(Robot *model);

  Robot *model_;

  std::vector<JointState> joint_states_;

  JointState *getJointState(const std::string &name);

  const JointState *getJointState(const std::string &name) const;

  ros::Time getTime() {return model_->getTime();};

  std::vector<std::vector<pr2_hardware_interface::Actuator*> > transmissions_in_;

  std::vector<std::vector<pr2_mechanism_model::JointState*> > transmissions_out_;

  void propagateActuatorPositionToJointPosition();
  void propagateJointPositionToActuatorPosition();

  void propagateJointEffortToActuatorEffort();
  void propagateActuatorEffortToJointEffort();

  void enforceSafety();

  bool isHalted();

  void zeroCommands();


  std::map<std::string, JointState*> joint_states_map_;

};

}

#endif