dynamics_solver.h
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00034 
00035 /* Author: Sachin Chitta */
00036 
00037 #ifndef MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_
00038 #define MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_
00039 
00040 // KDL
00041 #include <kdl/chain.hpp>
00042 #include <kdl/chainidsolver_recursive_newton_euler.hpp>
00043 
00044 #include <moveit/robot_state/robot_state.h>
00045 #include <geometry_msgs/Vector3.h>
00046 #include <geometry_msgs/Wrench.h>
00047 
00049 namespace dynamics_solver
00050 {
00051 MOVEIT_CLASS_FORWARD(DynamicsSolver);
00052 
00058 class DynamicsSolver
00059 {
00060 public:
00068   DynamicsSolver(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
00069                  const geometry_msgs::Vector3& gravity_vector);
00070 
00086   bool getTorques(const std::vector<double>& joint_angles, const std::vector<double>& joint_velocities,
00087                   const std::vector<double>& joint_accelerations, const std::vector<geometry_msgs::Wrench>& wrenches,
00088                   std::vector<double>& torques) const;
00089 
00101   bool getMaxPayload(const std::vector<double>& joint_angles, double& payload, unsigned int& joint_saturated) const;
00102 
00113   bool getPayloadTorques(const std::vector<double>& joint_angles, double payload,
00114                          std::vector<double>& joint_torques) const;
00115 
00120   const std::vector<double>& getMaxTorques() const;
00121 
00126   const robot_model::RobotModelConstPtr& getRobotModel() const
00127   {
00128     return robot_model_;
00129   }
00130 
00131   const robot_model::JointModelGroup* getGroup() const
00132   {
00133     return joint_model_group_;
00134   }
00135 
00136 private:
00137   boost::shared_ptr<KDL::ChainIdSolver_RNE> chain_id_solver_;  // KDL chain inverse dynamics
00138   KDL::Chain kdl_chain_;                                       // KDL chain
00139 
00140   robot_model::RobotModelConstPtr robot_model_;
00141   const robot_model::JointModelGroup* joint_model_group_;
00142 
00143   robot_state::RobotStatePtr state_;  // robot state
00144 
00145   std::string base_name_, tip_name_;        // base name, tip name
00146   unsigned int num_joints_, num_segments_;  // number of joints in group, number of segments in group
00147   std::vector<double> max_torques_;         // vector of max torques
00148 
00149   double gravity_;  // Norm of the gravity vector passed in initialize()
00150 };
00151 }
00152 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45