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_BUILDER_H 00019 #define COB_TWIST_CONTROLLER_KINEMATIC_EXTENSIONS_KINEMATIC_EXTENSION_BUILDER_H 00020 00021 #include <ros/ros.h> 00022 #include <Eigen/Geometry> 00023 00024 #include "cob_twist_controller/cob_twist_controller_data_types.h" 00025 #include "cob_twist_controller/kinematic_extensions/kinematic_extension_base.h" 00026 #include "cob_twist_controller/kinematic_extensions/kinematic_extension_dof.h" 00027 #include "cob_twist_controller/kinematic_extensions/kinematic_extension_urdf.h" 00028 #include "cob_twist_controller/kinematic_extensions/kinematic_extension_lookat.h" 00029 00030 00031 /* BEGIN KinematicExtensionBuilder *****************************************************************************************/ 00033 class KinematicExtensionBuilder 00034 { 00035 public: 00036 KinematicExtensionBuilder() {} 00037 ~KinematicExtensionBuilder() {} 00038 00039 static KinematicExtensionBase* createKinematicExtension(const TwistControllerParams& params); 00040 }; 00041 /* END KinematicExtensionBuilder *******************************************************************************************/ 00042 00043 00044 /* BEGIN KinematicExtensionNone ****************************************************************************************/ 00046 class KinematicExtensionNone : public KinematicExtensionBase 00047 { 00048 public: 00049 explicit KinematicExtensionNone(const TwistControllerParams& params) 00050 : KinematicExtensionBase(params) 00051 {} 00052 00053 ~KinematicExtensionNone() {} 00054 00055 bool initExtension(); 00056 KDL::Jacobian adjustJacobian(const KDL::Jacobian& jac_chain); 00057 JointStates adjustJointStates(const JointStates& joint_states); 00058 LimiterParams adjustLimiterParams(const LimiterParams& limiter_params); 00059 void processResultExtension(const KDL::JntArray& q_dot_ik); 00060 }; 00061 /* END KinematicExtensionNone **********************************************************************************************/ 00062 00063 #endif // COB_TWIST_CONTROLLER_KINEMATIC_EXTENSIONS_KINEMATIC_EXTENSION_BUILDER_H