kinematic_extension_builder.h
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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


cob_twist_controller
Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Jun 6 2019 21:19:26