chain.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
// 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