scaled_mimic.cpp

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// Author: Michael Ferguson

#include <pluginlib/class_list_macros.h>
#include <robot_controllers/scaled_mimic.h>

PLUGINLIB_EXPORT_CLASS(robot_controllers::ScaledMimicController, robot_controllers::Controller)

namespace robot_controllers
{

int ScaledMimicController::init(ros::NodeHandle& nh, ControllerManager* manager)
{
  // We absolutely need access to the controller manager
  if (!manager)
  {
    initialized_ = false;
    return -1;
  }

  Controller::init(nh, manager);

  // Setup Joints, Params
  std::string mimic, controlled;
  nh.param<std::string>("mimic_joint", mimic, "torso_lift_joint");
  nh.param<std::string>("controlled_joint", controlled, "bellows_joint");
  joint_to_mimic_ = manager->getJointHandle(mimic);
  joint_to_control_ = manager->getJointHandle(controlled);
  nh.param<double>("mimic_scale", scale_, 1.0);

  initialized_ = true;

  // Should we autostart?
  bool autostart;
  nh.param("autostart", autostart, false);
  if (autostart)
    manager->requestStart(getName());

  return 0;
}

bool ScaledMimicController::start()
{
  if (!initialized_)
  {
    ROS_ERROR_NAMED("ScaledMimicController",
                    "Unable to start, not initialized.");
    return false;
  }
  return true;
}

bool ScaledMimicController::stop(bool force)
{
  // Stop me anytime
  return true;
}

bool ScaledMimicController::reset()
{
  // Nothing to do here
  return true;
}

void ScaledMimicController::update(const ros::Time& now, const ros::Duration& dt)
{
  if (!initialized_)
    return;

  joint_to_control_->setPosition(scale_*joint_to_mimic_->getPosition(), 0, 0);
}

std::vector<std::string> ScaledMimicController::getCommandedNames()
{
  std::vector<std::string> names;
  names.push_back(joint_to_control_->getName());
  return names;
}

std::vector<std::string> ScaledMimicController::getClaimedNames()
{
  // Claimed == commanded.
  return getCommandedNames();
}

}  // namespace robot_controllers