cartesian_wrench_controller.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CARTESIAN_WRENCH_CONTROLLER_H
#define CARTESIAN_WRENCH_CONTROLLER_H

#include <vector>
#include <kdl/chain.hpp>
#include <kdl/frames.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <ros/node_handle.h>
#include <geometry_msgs/Wrench.h>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/chain.h>
#include <tf/transform_datatypes.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/scoped_ptr.hpp>


namespace controller {

class CartesianWrenchController : public pr2_controller_interface::Controller
{
public:
  CartesianWrenchController();
  ~CartesianWrenchController();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void starting();
  void update();

  // input of the controller
  KDL::Wrench wrench_desi_;

private:
  ros::NodeHandle node_;
  ros::Subscriber sub_command_;
  void command(const geometry_msgs::WrenchConstPtr& wrench_msg);
  pr2_mechanism_model::RobotState *robot_state_;
  pr2_mechanism_model::Chain chain_;

  KDL::Chain kdl_chain_;
  boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_;
  KDL::JntArray jnt_pos_, jnt_eff_;
  KDL::Jacobian jacobian_;

};

} // namespace


#endif