joint_trajectory_action.h

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/******************************************************************************
 * Copyright (c) 2011
 * GPS GmbH
 *
 * Author:
 * Alexey Zakharov
 *
 *
 * This software is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * 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
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 * documentation and/or other materials provided with the distribution.
 * * Neither the name of GPS GmbH nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
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#ifndef JOINTTRAJECTORYACTION_H
#define JOINTTRAJECTORYACTION_H

#include <ros/ros.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <sensor_msgs/JointState.h>
#include <actionlib/server/simple_action_server.h>
#include <brics_actuator/JointPositions.h>
#include <brics_actuator/JointVelocities.h>

namespace KDL
{
class Trajectory_Composite;
}

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> Server;

class JointStateObserver;

class JointTrajectoryAction
{
public:
  JointTrajectoryAction(JointStateObserver* jointStateObserver);
  JointTrajectoryAction(JointStateObserver* youbot, double velocityGain, double positionGain, double frequency);
  JointTrajectoryAction(const JointTrajectoryAction& orig);
  virtual ~JointTrajectoryAction();

  void execute(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal, Server* as);

  void jointStateCallback(const sensor_msgs::JointState& joint_state);
  void jointStateCallback(const brics_actuator::JointPositions& position,
                          const brics_actuator::JointVelocities& velocity);

  void setVelocityGain(double velocityGain);
  double getVelocityGain() const;

  void setPositionGain(double positionGain);
  double getPositionGain() const;

  void setFrequency(double frequency);
  double getFrequency() const;

private:

  double velocityGain;
  double positionGain;
  double frequency;

  sensor_msgs::JointState current_state;
  JointStateObserver* jointStateObserver;

private:

  double calculateVelocity(double actualAngle, double actualVelocity,
                           const KDL::Trajectory_Composite& trajectoryComposite, double elapsedTimeInSec);

  void controlLoop(const std::vector<double>& actualJointAngles, const std::vector<double>& actualJointVelocities,
                   const KDL::Trajectory_Composite* trajectoryComposite, int numberOfJoints, ros::Time startTime,
                   std::vector<double>& velocities);

  void setTargetTrajectory(double angle1, double angle2, double duration,
                           KDL::Trajectory_Composite& trajectoryComposite);

};

#endif  /* JOINTTRAJECTORYACTION_H */