joint_group_position_controller: joint_group_position_controller: joint_group_position

00001 /*
00002  * Software License Agreement (Modified BSD License)
00003  *
00004  *  Copyright (c) 2011, PAL Robotics, S.L.
00005  *  Copyright (c) 2008, Willow Garage, Inc.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of PAL Robotics, S.L. nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 
00037 #ifndef JOINT_GROUP_POSITION_CONTROLLER_H
00038 #define JOINT_GROUP_POSITION_CONTROLLER_H
00039 
00040 // C++ standard headers
00041 #include <cstddef>
00042 #include <string>
00043 #include <vector>
00044 
00045 // ROS headers
00046 #include <ros/node_handle.h>
00047 #include <control_toolbox/pid.h>
00048 #include <pr2_controller_interface/controller.h>
00049 #include <sensor_msgs/JointState.h>
00050 
00051 namespace controller
00052 {
00053 
00060 
00061 class JointGroupPositionController : public pr2_controller_interface::Controller
00062 {
00063 public:
00064   typedef std::vector<control_toolbox::Pid> PidList;
00065   typedef std::vector<double>               JointErrorList;
00066   typedef std::vector<double>               JointPosList;
00067   typedef std::vector<int>                  JointStateToCmd;
00068 
00069   JointGroupPositionController();
00070   ~JointGroupPositionController();
00071 
00072   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00073 
00074   virtual void starting();
00075   virtual void update();
00076 
00077 private:
00078   pr2_mechanism_model::RobotState *robot_;
00079   ros::Time last_time_;
00080   std::vector<pr2_mechanism_model::JointState*> joints_;
00081   PidList pids_;
00082   JointPosList    ref_pos_;
00083   JointErrorList  errors_;
00084   JointStateToCmd lookup_;
00085 
00086   ros::NodeHandle node_;
00087 
00088   void commandCB(const sensor_msgs::JointState::ConstPtr &command);
00089   ros::Subscriber sub_command_;
00090 };
00091 
00092 
00093 } // controller
00094 
00095 #endif // JOINT_GROUP_POSITION_CONTROLLER_H
joint_group_position_controller.h
