JointTorqueLimiter.h
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00001 #ifndef JOINT_TORQUE_LIMITER_H
00002 #define JOINT_TORQUE_LIMITER_H
00003 
00004 #include <kdl/tree.hpp>
00005 #include <kdl/jntarray.hpp>
00006 #include <kdl/frames.hpp>
00007 #include <sensor_msgs/JointState.h>
00008 #include <r2_msgs/StringArray.h>
00009 
00010 #include "robodyn_controllers/KdlTreeParser.h"
00011 #include "robodyn_utilities/RateLimiter.h"
00012 
00013 
00014 class JointTorqueLimiter : public KdlTreeParser
00015 {
00016 public:
00017     JointTorqueLimiter(const std::string& urdfFile);
00018     ~JointTorqueLimiter();
00019 
00020     void setYankLimit(const double lim);
00021     int populateTorqueMsg(sensor_msgs::JointState& tauLimCmd);
00022     int storeJointTorques(const double& tau);
00023     int storeJointTorques(const sensor_msgs::JointState& desiredTauLim);
00024     void initializeMaps();
00025     bool getCompletionMessage(r2_msgs::StringArray& completionMsg);
00026 
00027     std::map<std::string, double> jointTorqueLimMap;
00028 
00029 private:
00030     RateLimiter yl;
00031 
00032 };
00033 
00034 #endif


robodyn_controllers
Author(s):
autogenerated on Sat Jun 8 2019 20:20:53