robot_controllers_python.cpp

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// Author: Derek King

#include <boost/python.hpp>
#include <robot_controllers/diff_drive_limiter.h>
#include <robot_controllers_msgs/DiffDriveLimiterParams.h>

namespace bp = boost::python;

using robot_controllers::DiffDriveLimiter;
using robot_controllers_msgs::DiffDriveLimiterParams;

class pyDiffDriveLimiter : public DiffDriveLimiter
{
public:
  bp::tuple limit(double desired_linear_velocity,
                  double desired_angular_velocity,
                  double last_linear_velocity,
                  double last_angular_velocity,
                  double safety_scaling,
                  double dt)
  {
    double limited_linear_velocity, limited_angular_velocity;
    DiffDriveLimiter::limit(&limited_linear_velocity,
                                &limited_angular_velocity,
                                desired_linear_velocity,
                                desired_angular_velocity,
                                last_linear_velocity,
                                last_angular_velocity,
                                safety_scaling,
                                dt);
    return bp::make_tuple(limited_linear_velocity, limited_angular_velocity);
  }


  bp::tuple calcWheelVelocities(double linear_velocity,
                                double angular_velocity)
  {
    double left_velocity, right_velocity;
    DiffDriveLimiter::calcWheelVelocities(&left_velocity,
                                              &right_velocity,
                                              linear_velocity,
                                              angular_velocity);
    return bp::make_tuple(left_velocity, right_velocity);
  }
};

BOOST_PYTHON_MODULE(robot_controllers_python)
{
  bp::class_<DiffDriveLimiterParams>("DiffDriveLimiterParams")
    .def_readwrite("max_linear_velocity", &DiffDriveLimiterParams::max_linear_velocity)
    .def_readwrite("max_linear_acceleration",
                   &DiffDriveLimiterParams::max_linear_acceleration)
    .def_readwrite("max_angular_velocity", &DiffDriveLimiterParams::max_angular_velocity)
    .def_readwrite("max_angular_acceleration",
                   &DiffDriveLimiterParams::max_angular_acceleration)
    .def_readwrite("max_wheel_velocity", &DiffDriveLimiterParams::max_wheel_velocity)
    .def_readwrite("track_width", &DiffDriveLimiterParams::track_width)
    .def_readwrite("angular_velocity_limits_linear_velocity",
                   &DiffDriveLimiterParams::angular_velocity_limits_linear_velocity)
    .def_readwrite("scale_to_wheel_velocity_limits",
                   &DiffDriveLimiterParams::scale_to_wheel_velocity_limits)
    ;

  bp::class_<pyDiffDriveLimiter>("DiffDriveLimiter")
    .def("limit", &pyDiffDriveLimiter::limit)
    .def("calcWheelVelocities", &pyDiffDriveLimiter::calcWheelVelocities)
    .add_property("params",
                  &pyDiffDriveLimiter::getParams,
                  &pyDiffDriveLimiter::setParams)
    .def("setParams", &pyDiffDriveLimiter::setParams)
    .def("getParams", &pyDiffDriveLimiter::getParams)
    .def("getDefaultParams", &pyDiffDriveLimiter::getDefaultParams)
    .staticmethod("getDefaultParams")
    .def("validateParams", &pyDiffDriveLimiter::validateParams)
    .staticmethod("validateParams")
    ;
}