base_kinematics.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 /*
00035  * Author: Sachin Chitta and Matthew Piccoli
00036  */
00037 
00038 #ifndef PR2_BASE_KINEMATICS_H
00039 #define PR2_BASE_KINEMATICS_H
00040 
00041 #include <pr2_mechanism_model/robot.h>
00042 #include <pr2_controller_interface/controller.h>
00043 #include <geometry_msgs/Twist.h>
00044 #include <geometry_msgs/Point.h>
00045 #include <control_toolbox/filters.h>
00046 #include <boost/thread/condition.hpp>
00047 
00048 namespace controller
00049 {
00050   class Wheel;
00051   class Caster;
00052   class BaseKinematics;
00056   class Wheel
00057   {
00058     public:
00059 
00063       pr2_mechanism_model::JointState *joint_;
00064 
00068       geometry_msgs::Point offset_;
00069 
00073       std::string joint_name_;
00074 
00078       std::string link_name_;
00079 
00080 
00084       geometry_msgs::Point position_;
00085 
00089       Caster *parent_;
00090 
00094       double wheel_speed_actual_;
00095 
00099       double wheel_speed_cmd_;
00100 
00104       double wheel_speed_error_;
00105 
00109       double wheel_speed_filtered_;
00110 
00114       int direction_multiplier_;
00115 
00119       int wheel_stuck_;
00120 
00124       double wheel_radius_;
00125 
00131       bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name);
00132 
00136       void updatePosition();
00137   };
00138 
00142   class Caster
00143   {
00144     public:
00145 
00149       pr2_mechanism_model::JointState *joint_;
00150 
00154       geometry_msgs::Point offset_;
00155 
00159       std::string link_name_;
00160 
00164       std::string joint_name_;
00165 
00166       //geometry_msgs::Point position_;
00167 
00171       BaseKinematics *parent_;
00172 
00176       int num_children_;
00177 
00181       double steer_angle_actual_;
00182 
00186       double steer_angle_desired_;
00187 
00191       double steer_velocity_desired_;
00192 
00196       double steer_angle_stored_;
00197 
00201       double caster_position_error_;
00202 
00206       double caster_speed_error_;
00207 
00211       double caster_speed_filtered_;
00212 
00216       double caster_speed_;
00217 
00221       int caster_stuck_;
00222 
00223       bool init(pr2_mechanism_model::RobotState *robot_state,  ros::NodeHandle &node, std::string link_name);
00224   };
00225 
00229   class BaseKinematics
00230   {
00231     public:
00232 
00239     bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node);
00240 
00244       void computeWheelPositions();
00245 
00252       geometry_msgs::Twist pointVel2D(const geometry_msgs::Point& pos, const geometry_msgs::Twist& vel);
00253 
00257       pr2_mechanism_model::RobotState *robot_state_;
00258 
00262       int num_wheels_;
00263 
00267       int num_casters_;
00268 
00272       std::vector<Wheel> wheel_;
00273 
00277       std::vector<Caster> caster_;
00278 
00282       std::string xml_caster_name_;
00283 
00287       std::string xml_wheel_name_;
00288 
00292       std::string name_;
00293 
00297       double MAX_DT_;
00298 
00302       std::string robot_base_id_;
00303   };
00304 } // namespace
00305 #endif


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Sat Jun 8 2019 20:49:33