cartesian_pose_controller.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CARTESIAN_POSE_CONTROLLER_H
#define CARTESIAN_POSE_CONTROLLER_H

#include <vector>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>

#include <ros/node_handle.h>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>

#include <control_toolbox/pid.h>
#include <kdl/chainfksolver.hpp>
#include <kdl/chain.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl/frames.hpp>
#include <message_filters/subscriber.h>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/chain.h>
#include <realtime_tools/realtime_publisher.h>
#include <tf/message_filter.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>


namespace controller {

class CartesianPoseController : public pr2_controller_interface::Controller
{
public:
  CartesianPoseController();
  ~CartesianPoseController();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
  void starting();
  void update();

  void command(const geometry_msgs::PoseStamped::ConstPtr& pose_msg);

  // input of the controller
  KDL::Frame pose_desi_, pose_meas_;
  KDL::Twist twist_ff_;

  // state output
  KDL::Twist twist_error_;

private:
  KDL::Frame getPose();

  ros::NodeHandle node_;
  std::string controller_name_, root_name_;
  ros::Time last_time_;

  // robot structure
  pr2_mechanism_model::RobotState *robot_state_;
  pr2_mechanism_model::Chain chain_;

  // pid controllers
  std::vector<control_toolbox::Pid> pid_controller_;

  // kdl stuff for kinematics
  KDL::Chain             kdl_chain_;
  boost::scoped_ptr<KDL::ChainFkSolverPos> jnt_to_pose_solver_;
  boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
  KDL::JntArray          jnt_pos_;
  KDL::JntArray       jnt_eff_;
  KDL::Jacobian jacobian_;

  // reatltime publisher
  boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::Twist> > state_error_publisher_;
  boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> > state_pose_publisher_;
  unsigned int loop_count_;

  tf::TransformListener tf_;
  message_filters::Subscriber<geometry_msgs::PoseStamped> sub_command_;
  boost::scoped_ptr<tf::MessageFilter<geometry_msgs::PoseStamped> > command_filter_;
  //boost::scoped_ptr<tf::MessageNotifier<geometry_msgs::PoseStamped> > command_notifier_;
};

} // namespace


#endif