00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _kinton_arm_tag_tracker_alg_h_ 00026 #define _kinton_arm_tag_tracker_alg_h_ 00027 00028 #include <kinton_arm_tag_tracker/KintonArmTagTrackerConfig.h> 00029 #include "mutex.h" 00030 00031 #include <tf/transform_listener.h> 00032 #include <kdl_parser/kdl_parser.hpp> 00033 #include <Eigen/Dense> 00034 00035 #include <kinton_arm_kinematics.h> 00036 00037 //include kinton_arm_tag_tracker_alg main library 00038 00044 class KintonArmTagTrackerAlgorithm 00045 { 00046 protected: 00053 CMutex alg_mutex_; 00054 00055 // private attributes and methods 00056 00057 CKinton_Arm_Kinematics kinematics_; 00058 00059 public: 00060 00067 void tag_tracker(const MatrixXd& cam_vel, 00068 const Chain& kdl_chain, 00069 const double& dt, 00070 MatrixXd& q); 00071 00078 typedef kinton_arm_tag_tracker::KintonArmTagTrackerConfig Config; 00079 00086 Config config_; 00087 00096 KintonArmTagTrackerAlgorithm(void); 00097 00103 void lock(void) { alg_mutex_.enter(); }; 00104 00110 void unlock(void) { alg_mutex_.exit(); }; 00111 00119 bool try_enter(void) { return alg_mutex_.try_enter(); }; 00120 00132 void config_update(Config& new_cfg, uint32_t level=0); 00133 00134 // here define all kinton_arm_tag_tracker_alg interface methods to retrieve and set 00135 // the driver parameters 00136 00143 ~KintonArmTagTrackerAlgorithm(void); 00144 }; 00145 00146 #endif