cartesian_twist_controller.h
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29 
58 #ifndef CARTESIAN_TWIST_CONTROLLER_H
59 #define CARTESIAN_TWIST_CONTROLLER_H
60 
61 #include <vector>
62 #include <boost/scoped_ptr.hpp>
63 #include <boost/thread/condition.hpp>
64 
65 #include <ros/node_handle.h>
66 #include <geometry_msgs/Twist.h>
67 
68 #include <control_toolbox/pid.h>
69 #include <kdl/chainfksolver.hpp>
70 #include <kdl/chain.hpp>
71 #include <kdl/chainjnttojacsolver.hpp>
72 #include <kdl/frames.hpp>
76 #include <tf/transform_datatypes.h>
77 
78 
79 namespace controller {
80 
82 {
83 public:
86 
88 
89  void starting();
90  void update();
91 
92  // input of the controller
94 
95 private:
98  void command(const geometry_msgs::TwistConstPtr& twist_msg);
99  double ff_trans_, ff_rot_;
101 
102  // pid controllers
103  std::vector<control_toolbox::Pid> fb_pid_controller_;
104 
105  // robot description
108 
109  // kdl stuff for kinematics
111  boost::scoped_ptr<KDL::ChainFkSolverVel> jnt_to_twist_solver_;
112  boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
117 
118  geometry_msgs::Twist twist_msg_;
119 };
120 
121 } // namespace
122 
123 
124 #endif
std::vector< control_toolbox::Pid > fb_pid_controller_
bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
boost::scoped_ptr< KDL::ChainJntToJacSolver > jac_solver_
pr2_mechanism_model::RobotState * robot_state_
boost::scoped_ptr< KDL::ChainFkSolverVel > jnt_to_twist_solver_
void command(const geometry_msgs::TwistConstPtr &twist_msg)


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