chain.h

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// Author: Stuart Glaser

#ifndef MECHANISM_MODEL_CHAIN_H
#define MECHANISM_MODEL_CHAIN_H

#include "pr2_mechanism_model/robot.h"
#include <kdl/chain.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/jntarrayvel.hpp>
#include <kdl/jntarrayacc.hpp>

namespace pr2_mechanism_model {

class Chain
{
public:
  Chain() {}
  ~Chain() {}

  bool init(RobotState *robot_state, const std::string &root, const std::string &tip);

  void getPositions(std::vector<double>&);
  void getPositions(KDL::JntArray&);
  template <class Vec>
  void getPositions(Vec &v)
  {
    assert((int)v.size() == (int)joints_.size());
    for (size_t i = 0; i < joints_.size(); ++i)
      v[i] = joints_[i]->position_;
  }

  void getVelocities(std::vector<double>&);
  void getVelocities(KDL::JntArrayVel&);
  template <class Vec>
  void getVelocities(Vec &v)
  {
    assert((int)v.size() == (int)joints_.size());
    for (size_t i = 0; i < joints_.size(); ++i)
      v[i] = joints_[i]->velocity_;
  }


  void getEfforts(std::vector<double>&);
  void getEfforts(KDL::JntArray&);

  void setEfforts(KDL::JntArray&);
  void addEfforts(KDL::JntArray&);

  template <class Vec>
  void addEfforts(const Vec& v)
  {
    assert((int)v.size() == (int)joints_.size());
    for (size_t i = 0; i < joints_.size(); ++i)
      joints_[i]->commanded_effort_ += v[i];
  }

  bool allCalibrated();

  void toKDL(KDL::Chain &chain);

  JointState* getJoint(unsigned int actuated_joint_i);

  int size() const { return joints_.size(); }

private:
  pr2_mechanism_model::RobotState *robot_state_;
  KDL::Chain kdl_chain_;

  std::vector< JointState* > joints_;  // ONLY joints that can be actuated (not fixed joints)
};

}

#endif