dynamics_solver.h

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/* Author: Sachin Chitta */

#ifndef MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_
#define MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_

// KDL
#include <kdl/chain.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>

#include <moveit/robot_state/robot_state.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>

#include <memory>

namespace dynamics_solver
{
MOVEIT_CLASS_FORWARD(DynamicsSolver);

class DynamicsSolver
{
public:
  DynamicsSolver(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
                 const geometry_msgs::Vector3& gravity_vector);

  bool getTorques(const std::vector<double>& joint_angles, const std::vector<double>& joint_velocities,
                  const std::vector<double>& joint_accelerations, const std::vector<geometry_msgs::Wrench>& wrenches,
                  std::vector<double>& torques) const;

  bool getMaxPayload(const std::vector<double>& joint_angles, double& payload, unsigned int& joint_saturated) const;

  bool getPayloadTorques(const std::vector<double>& joint_angles, double payload,
                         std::vector<double>& joint_torques) const;

  const std::vector<double>& getMaxTorques() const;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  const robot_model::JointModelGroup* getGroup() const
  {
    return joint_model_group_;
  }

private:
  std::shared_ptr<KDL::ChainIdSolver_RNE> chain_id_solver_;  // KDL chain inverse dynamics
  KDL::Chain kdl_chain_;                                     // KDL chain

  robot_model::RobotModelConstPtr robot_model_;
  const robot_model::JointModelGroup* joint_model_group_;

  robot_state::RobotStatePtr state_;  // robot state

  std::string base_name_, tip_name_;        // base name, tip name
  unsigned int num_joints_, num_segments_;  // number of joints in group, number of segments in group
  std::vector<double> max_torques_;         // vector of max torques

  double gravity_;  // Norm of the gravity vector passed in initialize()
};
}
#endif