cartesian_twist_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
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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.
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00029 
00058 #ifndef CARTESIAN_TWIST_CONTROLLER_H
00059 #define CARTESIAN_TWIST_CONTROLLER_H
00060 
00061 #include <vector>
00062 #include <boost/scoped_ptr.hpp>
00063 #include <boost/thread/condition.hpp>
00064 
00065 #include <ros/node_handle.h>
00066 #include <geometry_msgs/Twist.h>
00067 
00068 #include <control_toolbox/pid.h>
00069 #include <kdl/chainfksolver.hpp>
00070 #include <kdl/chain.hpp>
00071 #include <kdl/chainjnttojacsolver.hpp>
00072 #include <kdl/frames.hpp>
00073 #include <pr2_controller_interface/controller.h>
00074 #include <pr2_mechanism_model/chain.h>
00075 #include <realtime_tools/realtime_publisher.h>
00076 #include <tf/transform_datatypes.h>
00077 
00078 
00079 namespace controller {
00080 
00081 class CartesianTwistController : public pr2_controller_interface::Controller
00082 {
00083 public:
00084   CartesianTwistController();
00085   ~CartesianTwistController();
00086 
00087   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00088 
00089   void starting();
00090   void update();
00091 
00092   // input of the controller
00093   KDL::Twist twist_desi_, twist_meas_;
00094 
00095 private:
00096   ros::NodeHandle node_;
00097   ros::Subscriber sub_command_;
00098   void command(const geometry_msgs::TwistConstPtr& twist_msg);
00099   double ff_trans_, ff_rot_;
00100   ros::Time last_time_;
00101 
00102   // pid controllers
00103   std::vector<control_toolbox::Pid> fb_pid_controller_;
00104 
00105   // robot description
00106   pr2_mechanism_model::RobotState *robot_state_;
00107   pr2_mechanism_model::Chain chain_;
00108 
00109   // kdl stuff for kinematics
00110   KDL::Chain             kdl_chain_;
00111   boost::scoped_ptr<KDL::ChainFkSolverVel> jnt_to_twist_solver_;
00112   boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
00113   KDL::JntArrayVel       jnt_posvel_;
00114   KDL::JntArray       jnt_eff_;
00115   KDL::Jacobian jacobian_;
00116   KDL::Wrench wrench_out_;
00117 
00118   geometry_msgs::Twist twist_msg_;
00119 };
00120 
00121 } // namespace
00122 
00123 
00124 #endif


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Thu Apr 24 2014 15:44:43