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 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 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. 00028 */ 00029 00054 #ifndef CARTESIAN_WRENCH_CONTROLLER_H 00055 #define CARTESIAN_WRENCH_CONTROLLER_H 00056 00057 #include <vector> 00058 #include <kdl/chain.hpp> 00059 #include <kdl/frames.hpp> 00060 #include <kdl/chainjnttojacsolver.hpp> 00061 #include <ros/node_handle.h> 00062 #include <geometry_msgs/Wrench.h> 00063 #include <pr2_controller_interface/controller.h> 00064 #include <pr2_mechanism_model/chain.h> 00065 #include <tf/transform_datatypes.h> 00066 #include <realtime_tools/realtime_publisher.h> 00067 #include <boost/scoped_ptr.hpp> 00068 #include <boost/thread/condition.hpp> 00069 00070 00071 namespace controller { 00072 00073 class CartesianWrenchController : public pr2_controller_interface::Controller 00074 { 00075 public: 00076 CartesianWrenchController(); 00077 ~CartesianWrenchController(); 00078 00079 bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); 00080 00081 void starting(); 00082 void update(); 00083 00084 // input of the controller 00085 KDL::Wrench wrench_desi_; 00086 00087 private: 00088 ros::NodeHandle node_; 00089 ros::Subscriber sub_command_; 00090 void command(const geometry_msgs::WrenchConstPtr& wrench_msg); 00091 pr2_mechanism_model::RobotState *robot_state_; 00092 pr2_mechanism_model::Chain chain_; 00093 00094 KDL::Chain kdl_chain_; 00095 boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_; 00096 KDL::JntArray jnt_pos_, jnt_eff_; 00097 KDL::Jacobian jacobian_; 00098 00099 }; 00100 00101 } // namespace 00102 00103 00104 #endif