robot.h
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00034 
00035 /*
00036  * The robot model tracks the state of the robot.
00037  *
00038  * State path:
00039  *               +---------------+
00040  * Actuators --> | Transmissions | --> Joints
00041  *               +---------------+
00042  *
00043  * Author: Stuart Glaser
00044  */
00045 
00046 #ifndef ROBOT_H
00047 #define ROBOT_H
00048 
00049 #include <vector>
00050 #include <map>
00051 #include <string>
00052 #include <urdf/model.h>
00053 #include <pr2_hardware_interface/hardware_interface.h>
00054 #include <hardware_interface/hardware_interface.h>
00055 #include "pr2_mechanism_model/joint.h"
00056 #include "pr2_mechanism_model/transmission.h"
00057 
00058 class TiXmlElement;
00059 
00060 // Forward declared to avoid extra includes
00061 namespace pluginlib {
00062 template <class T> class ClassLoader;
00063 }
00064 
00065 namespace pr2_mechanism_model
00066 {
00067 
00068 
00078 class Robot
00079 {
00080 public:
00082   Robot(pr2_hardware_interface::HardwareInterface *hw);
00083 
00085   ~Robot()
00086   {
00087     for (unsigned int i=0; i< transmissions_.size(); i++){
00088       if (transmissions_[i]){
00089         delete transmissions_[i];
00090         transmissions_[i] = NULL;
00091       }
00092     }
00093   }
00094 
00096   bool initXml(TiXmlElement *root);
00097 
00099   urdf::Model robot_model_;
00100 
00102   std::vector<Transmission*> transmissions_;
00103 
00105   int getTransmissionIndex(const std::string &name) const;
00106 
00108   pr2_hardware_interface::Actuator* getActuator(const std::string &name) const;
00109 
00111   pr2_mechanism_model::Transmission* getTransmission(const std::string &name) const;
00112 
00114   ros::Time getTime();
00115 
00117   pr2_hardware_interface::HardwareInterface* hw_;
00118 
00119 private:
00120   boost::shared_ptr<pluginlib::ClassLoader<pr2_mechanism_model::Transmission> > transmission_loader_;
00121 };
00122 
00123 
00124 
00134 class RobotState : public hardware_interface::HardwareInterface
00135 {
00136 public:
00138   RobotState(Robot *model);
00139 
00141   Robot *model_;
00142 
00144   std::vector<JointState> joint_states_;
00145 
00147   JointState *getJointState(const std::string &name);
00148 
00150   const JointState *getJointState(const std::string &name) const;
00151 
00153   ros::Time getTime() {return model_->getTime();};
00154 
00160   std::vector<std::vector<pr2_hardware_interface::Actuator*> > transmissions_in_;
00161 
00167   std::vector<std::vector<pr2_mechanism_model::JointState*> > transmissions_out_;
00168 
00170   void propagateActuatorPositionToJointPosition();
00172   void propagateJointPositionToActuatorPosition();
00173 
00175   void propagateJointEffortToActuatorEffort();
00177   void propagateActuatorEffortToJointEffort();
00178 
00180   void enforceSafety();
00181 
00183   bool isHalted();
00184 
00186   void zeroCommands();
00187 
00188 
00189   std::map<std::string, JointState*> joint_states_map_;
00190 
00191 };
00192 
00193 }
00194 
00195 #endif


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:02