multi_joint_velocity_controller.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef MULTI_JOINT_VELOCITY_CONTROLLER_H__
#define MULTI_JOINT_VELOCITY_CONTROLLER_H__

#include <vector>

#include <boost/scoped_ptr.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread/condition.hpp>
#include <ros/node_handle.h>

#include <control_toolbox/pid.h>
#include <filters/filter_chain.h>
#include <pr2_controller_interface/controller.h>
#include <realtime_tools/realtime_publisher.h>

#include <std_msgs/Float64MultiArray.h>
#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>


namespace controller {


class MultiJointVelocityController : public pr2_controller_interface::Controller
{
public:

  MultiJointVelocityController();
  ~MultiJointVelocityController();

  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void starting();
  void update();

private:
  int loop_count_;
  pr2_mechanism_model::RobotState *robot_;
  ros::Time last_time_;
  std::vector<pr2_mechanism_model::JointState*> joints_;
  std::vector<control_toolbox::Pid> pids_;

  std::vector<boost::shared_ptr<filters::FilterChain<double> > > output_filters_;

  ros::NodeHandle node_;

  void commandCB(const std_msgs::Float64MultiArray::ConstPtr &msg);
  ros::Subscriber sub_command_;

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      pr2_controllers_msgs::JointTrajectoryControllerState> > controller_state_publisher_;

  // ------ Mechanisms for passing the commands into realtime
  //        (double buffering for commanded velocities, and guarded copy operation)

  boost::mutex command_mutex_;
  std::vector<double> command_;
};

}

#endif