00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 #ifndef COB_TWIST_CONTROLLER_KINEMATIC_EXTENSIONS_KINEMATIC_EXTENSION_BASE_H 00019 #define COB_TWIST_CONTROLLER_KINEMATIC_EXTENSIONS_KINEMATIC_EXTENSION_BASE_H 00020 00021 #include <ros/ros.h> 00022 #include <tf/tf.h> 00023 #include <tf/transform_listener.h> 00024 #include "cob_twist_controller/cob_twist_controller_data_types.h" 00025 00026 00028 class KinematicExtensionBase 00029 { 00030 public: 00031 explicit KinematicExtensionBase(const TwistControllerParams& params): 00032 params_(params) 00033 { 00035 ros::Duration(0.5).sleep(); 00036 } 00037 00038 virtual ~KinematicExtensionBase() {} 00039 00040 virtual bool initExtension() = 0; 00041 virtual KDL::Jacobian adjustJacobian(const KDL::Jacobian& jac_chain) = 0; 00042 virtual JointStates adjustJointStates(const JointStates& joint_states) = 0; 00043 virtual LimiterParams adjustLimiterParams(const LimiterParams& limiter_params) = 0; 00044 virtual void processResultExtension(const KDL::JntArray& q_dot_ik) = 0; 00045 00046 protected: 00047 ros::NodeHandle nh_; 00048 tf::TransformListener tf_listener_; 00049 const TwistControllerParams& params_; 00050 }; 00051 00052 #endif // COB_TWIST_CONTROLLER_KINEMATIC_EXTENSIONS_KINEMATIC_EXTENSION_BASE_H