cartesian_twist_controller.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CARTESIAN_TWIST_CONTROLLER_H
#define CARTESIAN_TWIST_CONTROLLER_H

#include <vector>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>

#include <ros/node_handle.h>
#include <geometry_msgs/Twist.h>

#include <control_toolbox/pid.h>
#include <kdl/chainfksolver.hpp>
#include <kdl/chain.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl/frames.hpp>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/chain.h>
#include <realtime_tools/realtime_publisher.h>
#include <tf/transform_datatypes.h>


namespace controller {

class CartesianTwistController : public pr2_controller_interface::Controller
{
public:
  CartesianTwistController();
  ~CartesianTwistController();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void starting();
  void update();

  // input of the controller
  KDL::Twist twist_desi_, twist_meas_;

private:
  ros::NodeHandle node_;
  ros::Subscriber sub_command_;
  void command(const geometry_msgs::TwistConstPtr& twist_msg);
  double ff_trans_, ff_rot_;
  ros::Time last_time_;

  // pid controllers
  std::vector<control_toolbox::Pid> fb_pid_controller_;

  // robot description
  pr2_mechanism_model::RobotState *robot_state_;
  pr2_mechanism_model::Chain chain_;

  // kdl stuff for kinematics
  KDL::Chain             kdl_chain_;
  boost::scoped_ptr<KDL::ChainFkSolverVel> jnt_to_twist_solver_;
  boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
  KDL::JntArrayVel       jnt_posvel_;
  KDL::JntArray       jnt_eff_;
  KDL::Jacobian jacobian_;
  KDL::Wrench wrench_out_;

  geometry_msgs::Twist twist_msg_;
};

} // namespace


#endif