cartesian_pose_controller.h
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29 
69 #ifndef CARTESIAN_POSE_CONTROLLER_H
70 #define CARTESIAN_POSE_CONTROLLER_H
71 
72 #include <vector>
73 #include <boost/scoped_ptr.hpp>
74 #include <boost/thread/condition.hpp>
75 
76 #include <ros/node_handle.h>
77 
78 #include <geometry_msgs/PoseStamped.h>
79 #include <geometry_msgs/Twist.h>
80 
81 #include <control_toolbox/pid.h>
82 #include <kdl/chainfksolver.hpp>
83 #include <kdl/chain.hpp>
84 #include <kdl/chainjnttojacsolver.hpp>
85 #include <kdl/frames.hpp>
90 #include <tf/message_filter.h>
91 #include <tf/transform_datatypes.h>
92 #include <tf/transform_listener.h>
93 
94 
95 namespace controller {
96 
98 {
99 public:
102 
104  void starting();
105  void update();
106 
107  void command(const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
108 
109  // input of the controller
112 
113  // state output
115 
116 private:
118 
122 
123  // robot structure
126 
127  // pid controllers
128  std::vector<control_toolbox::Pid> pid_controller_;
129 
130  // kdl stuff for kinematics
132  boost::scoped_ptr<KDL::ChainFkSolverPos> jnt_to_pose_solver_;
133  boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
137 
138  // reatltime publisher
139  boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::Twist> > state_error_publisher_;
140  boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> > state_pose_publisher_;
141  unsigned int loop_count_;
142 
145  boost::scoped_ptr<tf::MessageFilter<geometry_msgs::PoseStamped> > command_filter_;
146  //boost::scoped_ptr<tf::MessageNotifier<geometry_msgs::PoseStamped> > command_notifier_;
147 };
148 
149 } // namespace
150 
151 
152 #endif
std::vector< control_toolbox::Pid > pid_controller_
void command(const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
boost::scoped_ptr< tf::MessageFilter< geometry_msgs::PoseStamped > > command_filter_
message_filters::Subscriber< geometry_msgs::PoseStamped > sub_command_
boost::scoped_ptr< KDL::ChainJntToJacSolver > jac_solver_
bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped > > state_pose_publisher_
pr2_mechanism_model::RobotState * robot_state_
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::Twist > > state_error_publisher_
boost::scoped_ptr< KDL::ChainFkSolverPos > jnt_to_pose_solver_


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Mon Jun 10 2019 14:26:26