follow_joint_trajectory.h

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// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS_FOLLOW_JOINT_TRAJECTORY_H
#define ROBOT_CONTROLLERS_FOLLOW_JOINT_TRAJECTORY_H

#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>

#include <ros/ros.h>
#include <robot_controllers_interface/controller.h>
#include <robot_controllers_interface/joint_handle.h>
#include <robot_controllers_interface/controller_manager.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <actionlib/server/simple_action_server.h>

#include <angles/angles.h>
#include <robot_controllers/trajectory.h>
#include <robot_controllers/trajectory_spline_sampler.h>

namespace robot_controllers
{

class FollowJointTrajectoryController : public Controller
{
  typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> server_t;

public:
  FollowJointTrajectoryController();
  virtual ~FollowJointTrajectoryController() {}

  virtual int init(ros::NodeHandle& nh, ControllerManager* manager);

  virtual bool start();

  virtual bool stop(bool force);

  virtual bool reset();

  virtual void update(const ros::Time& now, const ros::Duration& dt);

  virtual std::string getType()
  {
    return "robot_controllers/FollowJointTrajectoryController";
  }

  virtual std::vector<std::string> getCommandedNames();

  virtual std::vector<std::string> getClaimedNames();

private:
  void executeCb(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);

  TrajectoryPoint getPointFromCurrent(bool incl_vel, bool incl_acc, bool zero_vel);

  bool initialized_;
  ControllerManager* manager_;

  std::vector<JointHandlePtr> joints_;
  std::vector<std::string> joint_names_;
  std::vector<bool> continuous_;
  boost::shared_ptr<server_t> server_;

  boost::shared_ptr<TrajectorySampler> sampler_;
  boost::mutex sampler_mutex_;

  bool stop_with_action_;  

  bool stop_on_path_violation_;  

  /*
   * In certain cases, we want to start a trajectory at our last sample,
   * for instance if we were pre-empted (as is often the case with teleop)
   * we need to use the velocity and position of the last sample as a
   * starting point.
   */
  TrajectoryPoint last_sample_;
  bool preempted_;  
  bool has_path_tolerance_;
  TrajectoryPoint path_tolerance_;

  bool has_goal_tolerance_;
  TrajectoryPoint goal_tolerance_;
  double goal_time_tolerance_;

  control_msgs::FollowJointTrajectoryFeedback feedback_;
  ros::Time goal_time;
};

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS_FOLLOW_JOINT_TRAJECTORY_H_