kinton_arm_task_priority_control_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _kinton_arm_task_priority_control_alg_node_h_
#define _kinton_arm_task_priority_control_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "kinton_arm_task_priority_control_alg.h"
#include <urdf/model.h>

// [publisher subscriber headers]
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/TwistWithCovariance.h>
#include <nav_msgs/Odometry.h>
#include <ar_pose/ARMarkers.h>

// [service client headers]

// [action server client headers]

using namespace KDL;
using namespace Eigen;
using namespace std;


class KintonArmTaskPriorityControlAlgNode : public algorithm_base::IriBaseAlgorithm<KintonArmTaskPriorityControlAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher joints_pub_publisher_;
    sensor_msgs::JointState JointState_msg_;
    ros::Publisher quad_vel_publisher_;
    geometry_msgs::Twist Twist_msg_;

    // [subscriber attributes]
    ros::Subscriber cam_vel_subscriber_;
    void cam_vel_callback(const geometry_msgs::TwistWithCovariance::ConstPtr& msg);
    CMutex cam_vel_mutex_;
    ros::Subscriber odom_subscriber_;
    void odom_callback(const nav_msgs::Odometry::ConstPtr& msg);
    CMutex odom_mutex_;
    void input_tag_callback(const ar_pose::ARMarkers::ConstPtr& msg);
    CMutex input_tag_mutex_;
    ros::Subscriber input_tag_subscriber_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    bool activate_; //When to activate the servoing.

    ros::Time time_,time_last_; //Time variables.
    double dt_; // Time diferential.

    Matrix4d Tcam_in_tip_; // Homogenous transform of camera in arm tip frames.
    Matrix4d Ttag_in_cam_; // Homogenous Transform of tag in camera frames. 

    // Arm parameters
    Chain kdl_chain_; // Arm chain.
    int num_joints_; // Number of joints.
    bool init_; //Initialize timers and arm parameters.
    bool arm_unina_; // Arm designed by Unina.
    bool arm_catec_; // Arm designed by Fada-Catec.
    bool enable_sec_task_; // Enable secondary task.
    bool cam_vel_ok_; // Check the camera velocities covariance.


    geometry_msgs::Pose pose_; // Artag pose to compute Quadrotor position r.t. marker

    MatrixXd q_; // DOF variables. 
    MatrixXd lambda_robot_; // Proportional gain of Robot DOFs.
    MatrixXd gain_sec_task_; // Gains of secondary tasks.

    MatrixXd v_rollpitch_; // Current roll and pitch velocity of the quadrotor from the odometry.
    MatrixXd q_rollpitch_; // Curent quadrotor roll and pitch angles from the odometry.
    MatrixXd cam_vel_; // Current velocity of the camera from the visual servo.
    MatrixXd vel_; // Quadrotor velocity.

    vector<arm_joint> joint_info_; // Arm joints info

    KintonArmTaskPriorityControlAlgorithm task_priority_ctrl_;

  public:
    KintonArmTaskPriorityControlAlgNode(void);

    ~KintonArmTaskPriorityControlAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]

    Matrix4d getTransform(const string& frame1, const string& frame2);

    void init_arm();

    bool readJoints(urdf::Model &robot_model,const string& root_name,const string& tip_name);

    Matrix4d get_HT_cam_in_tip(const string& cam_frame, const string& tip_frame);

};

#endif