joint_group_position_controller.h

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 *  Copyright (c) 2012, hiDOF, Inc.
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#pragma once


#include <control_msgs/JointControllerState.h>
#include <control_toolbox/pid.h>
#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <realtime_tools/realtime_buffer.h>
#include <realtime_tools/realtime_publisher.h>
#include <ros/node_handle.h>
#include <std_msgs/Float64MultiArray.h>
#include <urdf/model.h>

namespace effort_controllers
{

class JointGroupPositionController : public controller_interface::Controller<hardware_interface::EffortJointInterface>
{
public:
  JointGroupPositionController();
  ~JointGroupPositionController();

  bool init(hardware_interface::EffortJointInterface* hw, ros::NodeHandle &n);
  void update(const ros::Time& /*time*/, const ros::Duration& /*period*/);

  std::vector< std::string > joint_names_;
  std::vector< hardware_interface::JointHandle > joints_;
  realtime_tools::RealtimeBuffer<std::vector<double> > commands_buffer_;
  unsigned int n_joints_;

private:
  ros::Subscriber sub_command_;

  std::vector<control_toolbox::Pid> pid_controllers_;       
  std::vector<urdf::JointConstSharedPtr> joint_urdfs_;

  void commandCB(const std_msgs::Float64MultiArrayConstPtr& msg);
  void enforceJointLimits(double &command, unsigned int index);
}; // class

} // namespace