cartesian_state.h

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2021 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
 
#pragma once
 
// Eigen
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include "Eigen/src/Core/Matrix.h"
#include "Eigen/src/Geometry/AngleAxis.h"
#include "Eigen/src/Geometry/Quaternion.h"
 
#include <cartesian_control_msgs/CartesianTrajectoryPoint.h>
 
namespace ros_controllers_cartesian
{
struct CartesianState
{
  CartesianState();
 
  CartesianState(const cartesian_control_msgs::CartesianTrajectoryPoint& point);
 
  CartesianState operator-(const CartesianState& other) const;
 
  cartesian_control_msgs::CartesianTrajectoryPoint toMsg(int time_from_start = 0) const;
 
  Eigen::Vector3d rot() const
  {
    Eigen::AngleAxisd a(q);
    return a.axis() * a.angle();
  };
 
  friend std::ostream& operator<<(std::ostream& os, const CartesianState& state);
 
  // Pose
  Eigen::Vector3d p;     
  Eigen::Quaterniond q;  
 
  // Spatial velocity in body (waypoint) coordinates
  Eigen::Vector3d v;  
  Eigen::Vector3d w;  
 
  // Spatial acceleration in body (waypoint) coordinates
  Eigen::Vector3d v_dot;  
  Eigen::Vector3d w_dot;  
};
 
}  // namespace ros_controllers_cartesian