cartesian_twist.h

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

#ifndef ROBOT_CONTROLLERS_CARTESIAN_TWIST_H
#define ROBOT_CONTROLLERS_CARTESIAN_TWIST_H

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

#include <ros/ros.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/TwistStamped.h>

#include <kdl/chain.hpp>
#include <kdl/chainiksolvervel_wdls.hpp>
#include <kdl/chainfksolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/frames.hpp>

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

#include <robot_controllers/trajectory_spline_sampler.h>

namespace robot_controllers
{

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

  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/CartesianTwistController";
  }

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

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

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

private:
  KDL::Frame getPose();

  bool initialized_;
  ControllerManager* manager_;

  bool enabled_;

  KDL::Chain kdl_chain_;
  boost::shared_ptr<KDL::ChainIkSolverVel_wdls> solver_;
  boost::shared_ptr<KDL::ChainFkSolverPos_recursive> fksolver_;
  KDL::JntArray tgt_jnt_pos_;
  KDL::JntArray tgt_jnt_vel_;
  KDL::JntArray last_tgt_jnt_vel_;

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

  std::vector<JointHandlePtr> joints_;

  boost::mutex mutex_;
  KDL::Twist twist_command_;
  std::string twist_command_frame_;
  ros::Time last_command_time_;
  bool is_active_;
};

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS_CARTESIAN_TWIST_H