robot_state.hpp

Go to the documentation of this file.

/*
 * robot_state.hpp
 *
 *  Created on: 7 Jan 2014
 *      Author: Manos Nikolaidis
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, Shadow Robot Company Ltd.
 *  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 ROS_ETHERCAT_MODEL_ROBOTSTATE_HPP
#define ROS_ETHERCAT_MODEL_ROBOTSTATE_HPP

#include <urdf/model.h>
#include <pluginlib/class_loader.h>
#include <boost/ptr_container/ptr_unordered_map.hpp>
#include <boost/ptr_container/ptr_vector.hpp>
#include <hardware_interface/hardware_interface.h>
#include "ros_ethercat_model/joint.hpp"
#include "ros_ethercat_model/transmission.hpp"
#include "ros_ethercat_model/hardware_interface.hpp"

namespace ros_ethercat_model
{

class RobotState : public hardware_interface::HardwareInterface
{
public:
  RobotState(TiXmlElement *root)
    : transmission_loader_("ros_ethercat_model", "ros_ethercat_model::Transmission")
  {
    if (root)
      initXml(root);
  }
  void initXml(TiXmlElement *root)
  {
    try
    {
      if (!robot_model_.initXml(root))
        throw std::runtime_error("Failed to load robot_model_");

      for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::const_iterator it = robot_model_.joints_.begin();
           it != robot_model_.joints_.end();
           ++it)
      {
        // we are only loading joints that can be controlled
        if (it->second->type == urdf::Joint::PRISMATIC || it->second->type == urdf::Joint::REVOLUTE)
          joint_states_[it->first].joint_ = it->second;
      }

      for (TiXmlElement *xit = root->FirstChildElement("transmission");
           xit;
           xit = xit->NextSiblingElement("transmission"))
      {
        std::string type = xit->Attribute("type");

        Transmission *t = transmission_loader_.createUnmanagedInstance(type);
        if (!t || !t->initXml(xit, this))
          throw std::runtime_error(std::string("Failed to initialize transmission type: ") + type);
        transmissions_.push_back(t);
      }
    }
    catch (const std::runtime_error &ex)
    {
      ROS_FATAL_STREAM("ros_ethercat_model failed to parse the URDF xml into a robot model\n" << ex.what());
    }
  }

  void propagateActuatorPositionToJointPosition()
  {
    for (size_t i = 0; i < transmissions_.size(); ++i)
      transmissions_[i].propagatePosition();
  }

  void propagateJointEffortToActuatorEffort()
  {
    for (size_t i = 0; i < transmissions_.size(); ++i)
      transmissions_[i].propagateEffort();
  }

  Actuator* getActuator(const std::string &name)
  {
    for (size_t i = 0; i < transmissions_.size(); ++i)
      if (transmissions_[i].actuator_->name_ == name)
        return transmissions_[i].actuator_;
    return NULL;
  }

  CustomHW* getCustomHW(const std::string &name)
  {
    return custom_hws_.count(name) ? &custom_hws_[name] : NULL;
  }

  JointState* getJointState(const std::string &name)
  {
    return joint_states_.count(name) ? &joint_states_[name] : NULL;
  }

  ros::Time getTime()
  {
    return current_time_;
  }

  ros::Time current_time_;

  boost::ptr_unordered_map<std::string, JointState> joint_states_;

  boost::ptr_unordered_map<std::string, CustomHW> custom_hws_;

  urdf::Model robot_model_;

  boost::ptr_vector<Transmission> transmissions_;

  pluginlib::ClassLoader<Transmission> transmission_loader_;
};
}
#endif