dynamics_solver.h

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#ifndef MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_
#define MOVEIT_DYNAMICS_SOLVER_DYNAMICS_SOLVER_

// KDL
#include <kdl/chain.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>

#include <moveit/robot_state/robot_state.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>

namespace dynamics_solver
{

class DynamicsSolver
{
public:

  DynamicsSolver(const robot_model::RobotModelConstPtr &kinematic_model,
                 const std::string &group_name,
                 const geometry_msgs::Vector3 &gravity_vector);

  bool getTorques(const std::vector<double> &joint_angles,
                  const std::vector<double> &joint_velocities,
                  const std::vector<double> &joint_accelerations,
                  const std::vector<geometry_msgs::Wrench> &wrenches,
                  std::vector<double> &torques) const;

  bool getMaxPayload(const std::vector<double> &joint_angles,
                     double &payload,
                     unsigned int &joint_saturated) const;

  bool getPayloadTorques(const std::vector<double> &joint_angles,
                         double payload,
                         std::vector<double> &joint_torques) const;

  const std::vector<double>& getMaxTorques() const;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return kinematic_model_;
  }

  const std::string& getGroupName() const
  {
    return group_name_;
  }

private:

  boost::shared_ptr<KDL::ChainIdSolver_RNE> chain_id_solver_; // KDL chain inverse dynamics
  KDL::Chain kdl_chain_; // KDL chain

  std::string group_name_, base_name_, tip_name_; // group name, base name, tip name
  unsigned int num_joints_, num_segments_; // number of joints in group, number of segments in group
  std::vector<double> max_torques_; // vector of max torques

  robot_model::RobotModelConstPtr kinematic_model_; // kinematic model
  const robot_model::JointModelGroup* joint_model_group_; //joint model group

  robot_state::RobotStatePtr kinematic_state_; //kinematic state
  robot_state::JointStateGroup* joint_state_group_; //joint state for the group

  double gravity_; //Norm of the gravity vector passed in initialize()

};

typedef boost::shared_ptr<DynamicsSolver> DynamicsSolverPtr;
typedef boost::shared_ptr<const DynamicsSolver> DynamicsSolverConstPtr;

}
#endif