kinton_arm_task_priority_control_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _kinton_arm_task_priority_control_alg_h_
#define _kinton_arm_task_priority_control_alg_h_

#include <kinton_arm_task_priority_control/KintonArmTaskPriorityControlConfig.h>
#include "mutex.h"

#include <tf/transform_listener.h>
#include <kdl_parser/kdl_parser.hpp>
#include <Eigen/Dense>

#include <quadarm_task_priority_ctrl.h>

using namespace KDL;
using namespace Eigen;
using namespace std;

//include kinton_arm_task_priority_control_alg main library

class KintonArmTaskPriorityControlAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods


  public:
    typedef kinton_arm_task_priority_control::KintonArmTaskPriorityControlConfig Config;

    Config config_;

    KintonArmTaskPriorityControlAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all kinton_arm_task_priority_control_alg interface methods to retrieve and set
    // the driver parameters

    ~KintonArmTaskPriorityControlAlgorithm(void);

    void task_priority_ctrl(const MatrixXd& cam_vel,const bool& arm_unina,
                            const bool& arm_catec,const bool& enable_sec_task,
                            const Matrix4d& Tcam_in_tip,const Matrix4d& Ttag_in_cam,
                            const MatrixXd& lambda_robot,
                            const MatrixXd& gain_sec_task,
                            const MatrixXd& q_rollpitch,const MatrixXd& v_rollpitch,
                            const Chain& kdl_chain,const vector<arm_joint> joint_info,
                            const double& dt, MatrixXd& q,
                            MatrixXd& vel_quad);

    CQuadarm_Task_Priority_Ctrl quadarm_task_priority_ctrl;

};

#endif