joint_position_controller.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
#ifndef JOINT_POSITION_CONTROLLER_H
#define JOINT_POSITION_CONTROLLER_H
 
#include <ros/node_handle.h>
 
#include <pr2_controller_interface/controller.h>
#include <control_toolbox/pid.h>
#include "control_toolbox/pid_gains_setter.h"
#include <boost/scoped_ptr.hpp>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Float64.h>
#include <pr2_controllers_msgs/JointControllerState.h>
 
namespace controller
{
 
class JointPositionController : public pr2_controller_interface::Controller
{
public:
 
  JointPositionController();
  ~JointPositionController();
 
  bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name,const control_toolbox::Pid &pid);
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
 
  void setCommand(double cmd);
 
   void getCommand(double & cmd);
 
  virtual void starting() {
    command_ = joint_state_->position_;
    pid_controller_.reset();
  }
 
  virtual void update();
 
  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
  void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
 
  std::string getJointName();
  pr2_mechanism_model::JointState *joint_state_;        
  ros::Duration dt_;
  double command_;                            
private:
  int loop_count_;
  bool initialized_;
  pr2_mechanism_model::RobotState *robot_;              
  control_toolbox::Pid pid_controller_;       
  ros::Time last_time_;                          
  ros::NodeHandle node_;
 
  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;
 
  ros::Subscriber sub_command_;
  void setCommandCB(const std_msgs::Float64ConstPtr& msg);
};
 
} // namespace
 
#endif