cartesian_joint_converter.cc

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#include <xpp_vis/cartesian_joint_converter.h>
 
#include <ros/node_handle.h>
 
#include <xpp_msgs/RobotStateJoint.h>
#include <xpp_states/convert.h>
 
namespace xpp {
 
CartesianJointConverter::CartesianJointConverter (const InverseKinematics::Ptr& ik,
                                                  const std::string& cart_topic,
                                                  const std::string& joint_topic)
{
  inverse_kinematics_ = ik;
 
  ::ros::NodeHandle n;
  cart_state_sub_ = n.subscribe(cart_topic, 1, &CartesianJointConverter::StateCallback, this);
  ROS_DEBUG("Subscribed to: %s", cart_state_sub_.getTopic().c_str());
 
  joint_state_pub_  = n.advertise<xpp_msgs::RobotStateJoint>(joint_topic, 1);
  ROS_DEBUG("Publishing to: %s", joint_state_pub_.getTopic().c_str());
}
 
void
CartesianJointConverter::StateCallback (const xpp_msgs::RobotStateCartesian& cart_msg)
{
  auto cart = Convert::ToXpp(cart_msg);
 
  // transform feet from world -> base frame
  Eigen::Matrix3d B_R_W = cart.base_.ang.q.normalized().toRotationMatrix().inverse();
  EndeffectorsPos ee_B(cart.ee_motion_.GetEECount());
  for (auto ee : ee_B.GetEEsOrdered())
    ee_B.at(ee) = B_R_W * (cart.ee_motion_.at(ee).p_ - cart.base_.lin.p_);
 
  Eigen::VectorXd q =  inverse_kinematics_->GetAllJointAngles(ee_B).ToVec();
 
  xpp_msgs::RobotStateJoint joint_msg;
  joint_msg.base            = cart_msg.base;
  joint_msg.ee_contact      = cart_msg.ee_contact;
  joint_msg.time_from_start = cart_msg.time_from_start;
  joint_msg.joint_state.position = std::vector<double>(q.data(), q.data()+q.size());
  // Attention: Not filling joint velocities or torques
 
  joint_state_pub_.publish(joint_msg);
}
 
} /* namespace xpp */