cartesian_pose_controller.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.
 */
 
#ifndef CARTESIAN_POSE_CONTROLLER_H
#define CARTESIAN_POSE_CONTROLLER_H
 
#include <vector>
#include <boost/scoped_ptr.hpp>
 
#include <ros/node_handle.h>
 
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
 
#include <control_toolbox/pid.h>
#include <kdl/chainfksolver.hpp>
#include <kdl/chain.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl/frames.hpp>
#include <message_filters/subscriber.h>
#include <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/chain.h>
#include <realtime_tools/realtime_publisher.h>
#include <tf/message_filter.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
 
 
namespace controller {
 
class CartesianPoseController : public pr2_controller_interface::Controller
{
public:
  CartesianPoseController();
  ~CartesianPoseController();
 
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
  void starting();
  void update();
 
  void command(const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
 
  // input of the controller
  KDL::Frame pose_desi_, pose_meas_;
  KDL::Twist twist_ff_;
 
  // state output
  KDL::Twist twist_error_;
 
private:
  KDL::Frame getPose();
 
  ros::NodeHandle node_;
  std::string controller_name_, root_name_;
  ros::Time last_time_;
 
  // robot structure
  pr2_mechanism_model::RobotState *robot_state_;
  pr2_mechanism_model::Chain chain_;
 
  // pid controllers
  std::vector<control_toolbox::Pid> pid_controller_;
 
  // kdl stuff for kinematics
  KDL::Chain             kdl_chain_;
  boost::scoped_ptr<KDL::ChainFkSolverPos> jnt_to_pose_solver_;
  boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
  KDL::JntArray          jnt_pos_;
  KDL::JntArray       jnt_eff_;
  KDL::Jacobian jacobian_;
 
  // reatltime publisher
  boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::Twist> > state_error_publisher_;
  boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> > state_pose_publisher_;
  unsigned int loop_count_;
 
  tf::TransformListener tf_;
  message_filters::Subscriber<geometry_msgs::PoseStamped> sub_command_;
  boost::scoped_ptr<tf::MessageFilter<geometry_msgs::PoseStamped> > command_filter_;
  //boost::scoped_ptr<tf::MessageNotifier<geometry_msgs::PoseStamped> > command_notifier_;
};
 
} // namespace
 
 
#endif