robot.h

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/*
 * The robot model tracks the state of the robot.
 *
 * State path:
 *               +---------------+
 * Actuators --> | Transmissions | --> Joints
 *               +---------------+
 *
 * Author: Stuart Glaser
 */
 
#ifndef ROBOT_H
#define ROBOT_H
 
#include <vector>
#include <map>
#include <string>
#include <urdf/model.h>
#include <pr2_hardware_interface/hardware_interface.h>
#include <hardware_interface/hardware_interface.h>
#include "pr2_mechanism_model/joint.h"
#include "pr2_mechanism_model/transmission.h"
 
class TiXmlElement;
 
// Forward declared to avoid extra includes
namespace pluginlib {
template <class T> class ClassLoader;
}
 
namespace pr2_mechanism_model
{
 
 
class Robot
{
public:
  Robot(pr2_hardware_interface::HardwareInterface *hw);
 
  ~Robot() { }
 
  bool initXml(TiXmlElement *root);
 
  urdf::Model robot_model_;
 
  std::vector<boost::shared_ptr<Transmission> > transmissions_;
 
  int getTransmissionIndex(const std::string &name) const;
 
  pr2_hardware_interface::Actuator* getActuator(const std::string &name) const;
 
  boost::shared_ptr<pr2_mechanism_model::Transmission> getTransmission(const std::string &name) const;
 
  ros::Time getTime();
 
  pr2_hardware_interface::HardwareInterface* hw_;
 
private:
  boost::shared_ptr<pluginlib::ClassLoader<pr2_mechanism_model::Transmission> > transmission_loader_;
};
 
 
 
class RobotState : public hardware_interface::HardwareInterface
{
public:
  RobotState(Robot *model);
 
  Robot *model_;
 
  std::vector<JointState> joint_states_;
 
  JointState *getJointState(const std::string &name);
 
  const JointState *getJointState(const std::string &name) const;
 
  ros::Time getTime() {return model_->getTime();};
 
  std::vector<std::vector<pr2_hardware_interface::Actuator*> > transmissions_in_;
 
  std::vector<std::vector<pr2_mechanism_model::JointState*> > transmissions_out_;
 
  void propagateActuatorPositionToJointPosition();
  void propagateJointPositionToActuatorPosition();
 
  void propagateJointEffortToActuatorEffort();
  void propagateActuatorEffortToJointEffort();
 
  void enforceSafety();
 
  bool isHalted();
 
  void zeroCommands();
 
 
  std::map<std::string, JointState*> joint_states_map_;
 
};
 
}
 
#endif