GeomController.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * 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.
 */
 
 
#ifndef H_GEOM_CONTROLLER_IMPL
#define H_GEOM_CONTROLLER_IMPL
 
#include <controller_interface/controller.h>
#include <cob_omni_drive_controller/UndercarriageCtrlGeomROS.h>
#include <boost/scoped_ptr.hpp>
 
namespace cob_omni_drive_controller
{
 
template<typename HandleType, typename Controller> class GeomControllerBase {
protected:
    std::vector<HandleType> steer_joints_;
    std::vector<HandleType> drive_joints_;
    std::vector<WheelState> wheel_states_;
    boost::scoped_ptr<Controller> geom_;
 
public:
    void updateState(){
 
        for (unsigned i=0; i<wheel_states_.size(); i++){
            wheel_states_[i].dAngGearSteerRad = steer_joints_[i].getPosition();
            wheel_states_[i].dVelGearSteerRadS = steer_joints_[i].getVelocity();
            wheel_states_[i].dVelGearDriveRadS = drive_joints_[i].getVelocity();
        }
        geom_->updateWheelStates(wheel_states_);
    }
protected:
    bool setup(const std::vector<typename Controller::WheelParams> &wheel_params){
        if (wheel_params.size() < 3){
            ROS_ERROR("At least three wheel are needed.");
            return false;
        }
        wheel_states_.resize(wheel_params.size());
        geom_.reset(new Controller(wheel_params));
        return true;
 
    }
};
 
template<typename Interface, typename Controller> class GeomController:
    public GeomControllerBase<typename Interface::ResourceHandleType, Controller>,
        public controller_interface::Controller<Interface> {
public:
    typedef std::vector<typename Controller::WheelParams> wheel_params_t;
    bool init(Interface* hw, ros::NodeHandle& controller_nh){
        std::vector<typename Controller::WheelParams> wheel_params;
        if(!parseWheelParams(wheel_params, controller_nh)) return false;
        return init(hw, wheel_params);
    }
    bool init(Interface* hw, const wheel_params_t & wheel_params){
        if(!this->setup(wheel_params)) return false;
        try{
            for (unsigned i=0; i<wheel_params.size(); i++){
                this->steer_joints_.push_back(hw->getHandle(wheel_params[i].geom.steer_name));
                this->drive_joints_.push_back(hw->getHandle(wheel_params[i].geom.drive_name));
            }
        }
        catch(const std::exception &e){
            ROS_ERROR_STREAM("Error while attaching handles: " << e.what());
            return false;
        }
        return true;
    }
};
 
}
 
#endif