gravity_compensation.h

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// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS_GRAVITY_COMPENSATION_H_
#define ROBOT_CONTROLLERS_GRAVITY_COMPENSATION_H_

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

#include <ros/ros.h>
#include <robot_controllers_interface/controller.h>
#include <robot_controllers_interface/controller_manager.h>
#include <robot_controllers_interface/joint_handle.h>

#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>

#include <kdl/tree.hpp>
#include <kdl/chain.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/jntarrayvel.hpp>
#include <kdl/chaindynparam.hpp>

namespace robot_controllers
{

class GravityCompensation : public Controller
{
public:
  GravityCompensation() : initialized_(false) {}
  virtual ~GravityCompensation() {}

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

  virtual bool start();

  virtual bool stop(bool force)
  {
    // always allow preemption
    return true;
  }

  virtual bool reset()
  {
    // Do nothing
    return true;
  }

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

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

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

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

private:
  ControllerManager* manager_;
  std::vector<JointHandlePtr> joints_;

  bool initialized_;  

  KDL::Chain kdl_chain_;
  KDL::JntArrayVel positions_;
  boost::shared_ptr<KDL::ChainDynParam> kdl_chain_dynamics_;
};

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS_GRAVITY_COMPENSATION_H_