dynamics_solver.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Sachin Chitta */

#ifndef MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_
#define MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_

// KDL
#include <kdl/chain.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>

#include <moveit/robot_state/robot_state.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>

namespace dynamics_solver
{

class DynamicsSolver
{
public:

  DynamicsSolver(const robot_model::RobotModelConstPtr &robot_model,
                 const std::string &group_name,
                 const geometry_msgs::Vector3 &gravity_vector);

  bool getTorques(const std::vector<double> &joint_angles,
                  const std::vector<double> &joint_velocities,
                  const std::vector<double> &joint_accelerations,
                  const std::vector<geometry_msgs::Wrench> &wrenches,
                  std::vector<double> &torques) const;

  bool getMaxPayload(const std::vector<double> &joint_angles,
                     double &payload,
                     unsigned int &joint_saturated) const;

  bool getPayloadTorques(const std::vector<double> &joint_angles,
                         double payload,
                         std::vector<double> &joint_torques) const;

  const std::vector<double>& getMaxTorques() const;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  const robot_model::JointModelGroup* getGroup() const 
  {
    return joint_model_group_;
  }
  
private:

  boost::shared_ptr<KDL::ChainIdSolver_RNE> chain_id_solver_; // KDL chain inverse dynamics
  KDL::Chain kdl_chain_; // KDL chain

  robot_model::RobotModelConstPtr robot_model_; 
  const robot_model::JointModelGroup* joint_model_group_; 
  
  robot_state::RobotStatePtr state_; //robot state

  std::string base_name_, tip_name_; // base name, tip name
  unsigned int num_joints_, num_segments_; // number of joints in group, number of segments in group
  std::vector<double> max_torques_; // vector of max torques

  double gravity_; //Norm of the gravity vector passed in initialize()

};

MOVEIT_CLASS_FORWARD(DynamicsSolver); 

}
#endif