cartesian_pose.h

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/*
 * Derived a bit from pr2_controllers/cartesian_pose_controller.cpp
 * Author: Michael Ferguson, Wim Meeussen
 */

#ifndef ROBOT_CONTROLLERS_CARTESIAN_POSE_H
#define ROBOT_CONTROLLERS_CARTESIAN_POSE_H

#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>

#include <ros/ros.h>
#include <robot_controllers/pid.h>
#include <robot_controllers_interface/controller.h>
#include <robot_controllers_interface/joint_handle.h>
#include <robot_controllers_interface/controller_manager.h>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>

#include <kdl/chain.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/frames.hpp>

#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

namespace robot_controllers
{

class CartesianPoseController : public Controller
{
public:
  CartesianPoseController();
  virtual ~CartesianPoseController() {}

  virtual int init(ros::NodeHandle& nh, ControllerManager* manager);

  virtual bool start();

  virtual bool stop(bool force);

  virtual bool reset();

  virtual void update(const ros::Time& now, const ros::Duration& dt);

  virtual std::string getType()
  {
    return "robot_controllers/CartesianPoseController";
  }

  virtual std::vector<std::string> getCommandedNames();

  virtual std::vector<std::string> getClaimedNames();

  void command(const geometry_msgs::PoseStamped::ConstPtr& goal);

private:
  KDL::Frame getPose();

  bool initialized_;
  ControllerManager* manager_;

  bool enabled_;
  std::string root_link_;
  ros::Time last_command_;

  KDL::Frame desired_pose_;
  KDL::Frame actual_pose_;

  KDL::Twist twist_error_;

  KDL::Chain kdl_chain_;
  boost::shared_ptr<KDL::ChainFkSolverPos> jnt_to_pose_solver_;
  boost::shared_ptr<KDL::ChainJntToJacSolver> jac_solver_;
  KDL::JntArray jnt_pos_;
  KDL::JntArray jnt_delta_;
  KDL::Jacobian jacobian_;

  ros::Publisher feedback_pub_;
  ros::Subscriber command_sub_;

  tf::TransformListener tf_;
  std::vector<JointHandlePtr> joints_;
  std::vector<robot_controllers::PID> pid_;
};

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS_CARTESIAN_POSE_H