ImpedanceProjection.h
Go to the documentation of this file.
00001 /*
00002  * ImpedanceProjector.h
00003  *
00004  *  Created on: 31-08-2011
00005  *      Author: konradb3
00006  */
00007 
00008 #ifndef ImpedanceProjector_H_
00009 #define ImpedanceProjector_H_
00010 
00011 #include <rtt/TaskContext.hpp>
00012 #include <rtt/Port.hpp>
00013 #include <rtt/Logger.hpp>
00014 
00015 #include <kdl/frames.hpp>
00016 #include <kdl/jntarray.hpp>
00017 #include <kdl/jacobian.hpp>
00018 
00019 #include <lwr_fri/typekit/Types.h>
00020 #include <sensor_msgs/typekit/Types.h>
00021 #include <geometry_msgs/typekit/Types.h>
00022 #include <lwr_impedance_controller/CartesianImpedance.h>
00023 
00024 namespace lwr {
00025 
00026 using namespace RTT;
00027 
00028 class ImpedanceProjector : public RTT::TaskContext {
00029 public:
00030         ImpedanceProjector(const std::string& name);
00031         virtual ~ImpedanceProjector();
00032 
00033         virtual bool configureHook();
00034         virtual bool startHook();
00035 
00036         virtual void updateHook();
00037         virtual void stopHook();
00038         virtual void cleanupHook();
00039 private:
00040 
00041         OutputPort<std::vector<double> >  port_jnt_trq_cmd;
00042         OutputPort<lwr_fri::FriJointImpedance> port_joint_impedance_command;
00043         InputPort<std::vector<double> > port_joint_position_command;
00044 
00045         InputPort<KDL::Jacobian>  port_jacobian;
00046         InputPort<geometry_msgs::Pose> port_cart_pos_msr;
00047   InputPort<geometry_msgs::Pose> port_tool_frame;
00048         InputPort<lwr_impedance_controller::CartesianImpedance> port_cartesian_impedance_command;
00049   InputPort<double> port_command_period;
00050   InputPort<std::vector<double> > port_jnt_pos_msr;
00051   
00052   double dt;
00053         std::vector<double> jnt_trq_cmd;
00054         std::vector<double> jnt_pos, jnt_pos_cmd;
00055         lwr_fri::FriJointImpedance imp;
00056         KDL::Jacobian jacobian;
00057         KDL::Frame tool_frame;
00058         lwr_impedance_controller::CartesianImpedance cartesian_impedance_command;
00059         
00060 };
00061 
00062 }
00063 
00064 #endif /* ImpedanceProjector_H_ */


lwr_impedance_controller
Author(s): Konrad Banachowicz
autogenerated on Mon Oct 6 2014 02:01:41