Program Listing for File gravity_compensation.h

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 *  Copyright (c) 2020, Michael Ferguson
 *  Copyright (c) 2014, Fetch Robotics Inc.
 *  Copyright (c) 2013, Unbounded Robotics Inc.
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// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS__GRAVITY_COMPENSATION_H_
#define ROBOT_CONTROLLERS__GRAVITY_COMPENSATION_H_

#include <memory>
#include <string>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "robot_controllers_interface/controller.h"
#include "robot_controllers_interface/controller_manager.h"
#include "robot_controllers_interface/joint_handle.h"

#include "urdf/model.h"
#include "kdl_parser/kdl_parser.hpp"

#include "kdl/tree.hpp"
#include "kdl/chain.hpp"
#include "kdl/jntarray.hpp"
#include "kdl/jntarrayvel.hpp"
#include "kdl/chaindynparam.hpp"

namespace robot_controllers
{

class GravityCompensation : public robot_controllers_interface::Controller
{
public:
  GravityCompensation() : initialized_(false) {}
  virtual ~GravityCompensation() {}

  virtual int init(const std::string& name,
                   rclcpp::Node::SharedPtr node,
                   robot_controllers_interface::ControllerManagerPtr manager);

  virtual bool start();

  virtual bool stop(bool force)
  {
    (void) force;
    // always allow preemption
    return true;
  }

  virtual bool reset()
  {
    // Do nothing
    return true;
  }

  virtual void update(const rclcpp::Time& now, const rclcpp::Duration& dt);

  virtual std::string getType()
  {
    return "robot_controllers/GravityCompensation";
  }

  virtual std::vector<std::string> getCommandedNames();

  virtual std::vector<std::string> getClaimedNames();

private:
  robot_controllers_interface::ControllerManagerPtr manager_;
  std::vector<robot_controllers_interface::JointHandlePtr> joints_;

  bool initialized_;

  KDL::Chain kdl_chain_;
  KDL::JntArrayVel positions_;
  std::shared_ptr<KDL::ChainDynParam> kdl_chain_dynamics_;
};

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS__GRAVITY_COMPENSATION_H_