cartesian_twist_controller.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CARTESIAN_TWIST_CONTROLLER_H
#define CARTESIAN_TWIST_CONTROLLER_H
 
#include <vector>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>
 
#include <ros/node_handle.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 <pr2_controller_interface/controller.h>
#include <pr2_mechanism_model/chain.h>
#include <realtime_tools/realtime_publisher.h>
#include <tf/transform_datatypes.h>
 
 
namespace controller {
 
class CartesianTwistController : public pr2_controller_interface::Controller
{
public:
  CartesianTwistController();
  ~CartesianTwistController();
 
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
 
  void starting();
  void update();
 
  // input of the controller
  KDL::Twist twist_desi_, twist_meas_;
 
private:
  ros::NodeHandle node_;
  ros::Subscriber sub_command_;
  void command(const geometry_msgs::TwistConstPtr& twist_msg);
  double ff_trans_, ff_rot_;
  ros::Time last_time_;
 
  // pid controllers
  std::vector<control_toolbox::Pid> fb_pid_controller_;
 
  // robot description
  pr2_mechanism_model::RobotState *robot_state_;
  pr2_mechanism_model::Chain chain_;
 
  // kdl stuff for kinematics
  KDL::Chain             kdl_chain_;
  boost::scoped_ptr<KDL::ChainFkSolverVel> jnt_to_twist_solver_;
  boost::scoped_ptr<KDL::ChainJntToJacSolver> jac_solver_;
  KDL::JntArrayVel       jnt_posvel_;
  KDL::JntArray       jnt_eff_;
  KDL::Jacobian jacobian_;
  KDL::Wrench wrench_out_;
 
  geometry_msgs::Twist twist_msg_;
};
 
} // namespace
 
 
#endif