r2_impedance_controller.cpp

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/*
 * Copyright (c) 2012, General Motors.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/*
 * Author: Darren Earl, Stephen Hart
 */


#include "r2_impedance_controller.h"
#include <kdl_parser/kdl_parser.hpp>
#include "pluginlib/class_list_macros.h"
#include "tf_conversions/tf_kdl.h"
#include "tf/transform_datatypes.h"

using namespace std;
using namespace KDL;
using namespace r2_controller_ns;


Eigen::MatrixXd WholeBodyCalc::calcPinv(const Eigen::MatrixXd &a){
using namespace Eigen;
        // see : http://en.wikipedia.org/wiki/Moore-Penrose_pseudoinverse#The_general_case_and_the_SVD_method
        const MatrixXd* m;
        MatrixXd t;
        MatrixXd m_pinv;

        // transpose so SVD decomp can work...
        if ( a.rows()<a.cols() ){
                t = a.transpose();
                m = &t;
        } else {
                m = &a;
        }

        // SVD
        //Eigen::JacobiSVD<MatrixXd> svd = m->jacobiSvd(Eigen::ComputeFullU | Eigen::ComputeFullV);
        Eigen::JacobiSVD<MatrixXd> svd = m->jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV);
        Eigen::MatrixXd vSingular = svd.singularValues();
        // Build a diagonal matrix with the Inverted Singular values
        // The pseudo inverted singular matrix is easy to compute :
        // is formed by replacing every nonzero entry by its reciprocal (inversing).
        Eigen::MatrixXd vPseudoInvertedSingular(svd.matrixV().cols(),1);
        for (int iRow =0; iRow<vSingular.rows(); iRow++) {
                                                         // Todo : Put epsilon in parameter
                if ( fabs(vSingular(iRow))<=1e-10 ) {
                        vPseudoInvertedSingular(iRow,0)=0.;
                }
                else {
                        vPseudoInvertedSingular(iRow,0)=1./vSingular(iRow);
                }
        }
        // A little optimization here
        Eigen::MatrixXd mAdjointU = svd.matrixU().adjoint().block(0,0,vSingular.rows(),svd.matrixU().adjoint().cols());
        // Pseudo-Inversion : V * S * U'
        m_pinv = (svd.matrixV() *  vPseudoInvertedSingular.asDiagonal()) * mAdjointU  ;

        // transpose back if necessary
        if ( a.rows()<a.cols() )
                return m_pinv.transpose();
        
        return m_pinv;
}




bool R2ImpedanceController::init(pr2_mechanism_model::RobotState* robot_state, ros::NodeHandle& n )
{
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        node = n;
        this->robot_state = robot_state;
        kdl_parser::treeFromParam( "robot_description", cc.robot_tree );
        
        int jnt_size = cc.robot_tree.getNrOfJoints();
        robotStateJoints.resize( jnt_size );
        
        double grav[3];
        bool found = 1;
        found &= n.getParam("/gravity/x", grav[0] );
        found &= n.getParam("/gravity/y", grav[1] );
        found &= n.getParam("/gravity/z", grav[2] );
        if( found ){
                cc.init(grav);
        } else {
                double default_grav[] = { 0, 0, -9.8 };
                cc.init( default_grav );
        }
        
        {  //map RobotState joints to KDL::Tree joints
                const SegmentMap& sm = cc.robot_tree.getSegments();
                int x=0;
                for( SegmentMap::const_iterator i = sm.begin(); i!=sm.end(); ++i ){
                        const Segment& seg = i->second.segment;
                        const Joint& joint = seg.getJoint();
                        if( joint.getType() == Joint::None )
                                continue;
                        cc.name2idx[ joint.getName() ] = x;
                        cc.idx2name[x] = joint.getName();
                        pr2_mechanism_model::JointState* js = robot_state->getJointState( joint.getName() );
                        robotStateJoints[x] = js;
                        cc.jntsUpperLimit[x] = js->joint_->limits->upper;
                        cc.jntsLowerLimit[x] = js->joint_->limits->lower;
                        cc.jntsCenterPoint[x] = (cc.jntsUpperLimit[x] + cc.jntsLowerLimit[x])*.5;
                        cc.jntsUpperLimit[x] -= .01;
                        cc.jntsLowerLimit[x] += .01;
                        
                        
                        
                        cc.desired[x] = cc.jntsCenterPoint[x];
                        x++;
                        
                }
        }
        load_params(); // need to do this after name2idx is filled
        init_ros_msgs();
        for( int x=0; x<jnt_size; ++x ){
                cc.K[x] = cc.K_high[x];
                cc.D[x] = cc.D_high[x];
        }
        
        {
                const SegmentMap& sm = cc.robot_tree.getSegments();
                int x=0;
                for( SegmentMap::const_iterator i= sm.begin(); i!=sm.end(); ++i ){
                        const Segment& seg = i->second.segment;
                        const Joint& joint = seg.getJoint();
                        if( joint.getType() == Joint::None )
                                continue;
                        int idx = cc.name2idx[ joint.getName() ];
                        cout << "\t" << joint.getName();
                        cout << " " << idx;
                        cout << " "<< cc.K_high[x] << " " << cc.K_low[x];
                        cout << " " << cc.D_high[x] << " " << cc.D_low[x];
                        cout << " " << cc.K[x] << " " << cc.D[x] << endl;
                        
                        ++x;
                }
        }
        
        return true;
}
void R2ImpedanceController::CtrlCalc::init(double gravity[3]){
        rne_calc.reset(new TreeIdSolver_RNE( robot_tree, KDL::Vector(gravity[0], gravity[1], gravity[2]) ));
        

        wbc = WholeBodyCalc( robot_tree );
        jnt_size = robot_tree.getNrOfJoints();
        
        D_high.resize( jnt_size );
        D_low.resize( jnt_size );
        K_high.resize( jnt_size );
        K_low.resize( jnt_size );
        D.resize( jnt_size );
        K.resize( jnt_size );
        desired.resize( jnt_size );
        desiredVel.resize( jnt_size );
        joint_pos_control.resize( jnt_size );
        joint_vel_control.resize( jnt_size );
        
        treeJnts.resize( jnt_size );
        treeJntsVel.resize( jnt_size );
        treeJntsAvg.resize( jnt_size );
        treeJntsVelAvg.resize(jnt_size);
        
        jntsUpperLimit.resize( jnt_size );
        jntsLowerLimit.resize( jnt_size );
        jntsCenterPoint.resize( jnt_size );
        torques.resize(jnt_size);
        idx2name.resize(jnt_size);
        cartK_left.resize(6);
        cartD_left.resize(6);
        cartK_right.resize(6);
        cartD_right.resize(6);
        for( int x=0; x<jnt_size; ++x ){
                D_high[x]     = 0;
                D_low[x]      = 0;
                K_high[x]     = 0;
                K_low[x]      = 0;
                D[x]          = 0;
                K[x]          = 0;
                desired[x]    = 0;
                desiredVel[x] = 0;
                torques(x)    = 0;
                treeJnts[x]   = 0;
                treeJntsVel[x]= 0;
                
                joint_pos_control[x] = true;
                joint_vel_control[x] = false;
        }
    left_cart = false;
        right_cart = false;
        neck_cart = false;
        
        //root_name = "robot_base";
    root_name = "/r2/robot_reference";
        

}

static void append( vector<string>& first, const vector<string>& second ){
        first.insert( first.end(), second.begin(), second.end() );
}
static vector<string> createNames( const string& base, int count ){
        vector<string> results(count);
        for( int x=0; x<count; ++x ){
                stringstream ss;
                ss << base << x;
                results[x] = ss.str();
        }
        return results;
} 

static vector<string> createHandNames( const string& a ){
        vector<string> hand;
    append( hand, createNames( a+"/thumb/joint", 4 ));
    append( hand, createNames( a+"/index/joint", 4 ));
    append( hand, createNames( a+"/middle/joint", 4 ));
    append( hand, createNames( a+"/ring/joint", 3));
    append( hand, createNames( a+"/little/joint", 3 ));

        return hand;
}

void R2ImpedanceController::load_params(){
        
        //gains are laid out in the yaml file in these sections
    vector<string> right = createNames( "/r2/right_arm/joint", 7 );
    vector<string> rightHand = createHandNames( "/r2/right_arm/hand" );
    vector<string> left = createNames( "/r2/left_arm/joint", 7 );
    vector<string> leftHand = createHandNames( "/r2/left_arm/hand" );
    vector<string> waist;       waist.push_back( "/r2/waist/joint0" );
    vector<string> neck = createNames( "/r2/neck/joint", 3 );
        vector<string> rCart = createNames( "right/x",6);
        vector<string> lCart = createNames( "left/x",6);
        
        class Helper{
                std::map<string, int>& map;
                vector<double>& v;
                public:
                Helper( std::map<string, int>& Map, std::vector<double>& V  ):map(Map), v(V){};
                
                void operator()( const vector<string>& names, const vector<double>& values ){
                        int size = names.size();
                        for( int x=0; x< size; ++x ){
                                v[ map[ names[x] ] ] = values[x];
                        }
                }
        };
        Helper Khigh( cc.name2idx, cc.K_high );
        Helper Dhigh( cc.name2idx, cc.D_high );
        Helper Klow( cc.name2idx, cc.K_low );
        Helper Dlow( cc.name2idx, cc.D_low );
        
        Khigh( waist, getGainParams( waist, "Waist_Joint_Stiffness_High" ) );
        Dhigh( waist, getGainParams( waist, "Waist_Joint_Damping_High" ));
        Klow( waist, getGainParams( waist, "Waist_Joint_Stiffness_Low" ) );
        Dlow( waist, getGainParams( waist, "Waist_Joint_Damping_Low" ) );
        
        Khigh( neck, getGainParams( neck, "Neck_Joint_Stiffness" ));
        Dhigh( neck, getGainParams( neck, "Neck_Joint_Damping" ));
        Klow( neck, getGainParams( neck, "Neck_Joint_Stiffness" ));
        Dlow( neck, getGainParams( neck, "Neck_Joint_Damping" ));
        
        Khigh( left, getGainParams( left, "LeftArm_Joint_Stiffness_High" ) );
        Dhigh( left, getGainParams( left, "LeftArm_Joint_Damping_High" ) );
        Khigh( leftHand, getGainParams( leftHand, "LeftHand_Joint_Stiffness_High" ));
        Dhigh( leftHand, getGainParams( leftHand, "LeftHand_Joint_Damping_High" ));
        Klow( left, getGainParams( left, "LeftArm_Joint_Stiffness_Low" ));
        Dlow( left, getGainParams( left, "LeftArm_Joint_Damping_Low" ));
        Klow( leftHand, getGainParams( leftHand, "LeftHand_Joint_Stiffness_Low" ));
        Dlow( leftHand, getGainParams( leftHand, "LeftHand_Joint_Damping_Low" ));
        
        Khigh( right, getGainParams( right, "RightArm_Joint_Stiffness_High" ) );
        Dhigh( right, getGainParams( right, "RightArm_Joint_Damping_High" ) );
        Khigh( rightHand, getGainParams( rightHand, "RightHand_Joint_Stiffness_High" ));
        Dhigh( rightHand, getGainParams( rightHand, "RightHand_Joint_Damping_High" ));
        Klow( right, getGainParams( right, "RightArm_Joint_Stiffness_Low" ));
        Dlow( right, getGainParams( right, "RightArm_Joint_Damping_Low" ));
        Klow( rightHand, getGainParams( rightHand, "RightHand_Joint_Stiffness_Low" ));
        Dlow( rightHand, getGainParams( rightHand, "RightHand_Joint_Damping_Low" ));
        
        
        cc.cartK_left = getGainParams( lCart, "Left_Cart_Stiffness" );
        cc.cartD_left = getGainParams( lCart, "Left_Cart_Damping" );
        cc.cartK_right = getGainParams( rCart, "Right_Cart_Stiffness" );
        cc.cartD_right = getGainParams( rCart, "Right_Cart_Damping" );
        
};

vector<double> R2ImpedanceController::getGainParams(const std::vector<string>& param_names, const string& param_name) {
        int param_size = param_names.size();
        vector<double> params; params.reserve( param_size );
        using namespace XmlRpc;
        XmlRpc::XmlRpcValue param_vals;
        if (!node.getParam(param_name, param_vals)) {
                ROS_ERROR("No %s given. (namespace: %s)", param_name.c_str(), node.getNamespace().c_str());
                assert(false);
                return params;
        }
        if (param_size != (int)(param_vals.size())) {
                ROS_ERROR("Incorrect number of %s specified.  (namespace: %s), needs: %d, has %d", param_name.c_str(), node.getNamespace().c_str(), param_size, param_vals.size());
                assert(false);
                return params;
        }
        for (int i = 0; i < param_size; ++i) {
                XmlRpcValue &param_value = param_vals[i];
                if (param_value.getType() != XmlRpcValue::TypeDouble) {
                        ROS_ERROR("Array of params names should contain all doubles.  (namespace: %s)",
                                node.getNamespace().c_str());
                        assert(false);
                        return params;
                }
                params.push_back( (double)param_value );
        }
        return params;
}


void R2ImpedanceController::init_ros_msgs(){
        
        left_tip_pose_publisher.reset( new realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped>(node, "left/pose_state", 5));
        right_tip_pose_publisher.reset(new realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped>(node, "right/pose_state", 5));

        left_pose_error_publisher.reset( new realtime_tools::RealtimePublisher<geometry_msgs::Twist>(node, "left/twist_error", 5));
        right_pose_error_publisher.reset(new realtime_tools::RealtimePublisher<geometry_msgs::Twist>(node, "right/twist_error", 5));

        // subscribe to pose commands
        joint_command_sub  = node.subscribe("joint_commands",  5, &R2ImpedanceController::joint_command,  this);
        // backwards compatability
        left_joint_command_sub  = node.subscribe("left_arm/joint_command",  5, &R2ImpedanceController::joint_left_command,  this);
        right_joint_command_sub = node.subscribe("right_arm/joint_command", 5, &R2ImpedanceController::joint_right_command, this);
        neck_joint_command_sub  = node.subscribe("neck/joint_command",      5, &R2ImpedanceController::joint_neck_command,  this);
        waist_joint_command_sub = node.subscribe("waist/joint_command",     5, &R2ImpedanceController::joint_waist_command, this);

        //left_pose_command_sub = node.subscribe("left/pose_command", 5, &R2ImpedanceController::pose_left_command, this);
        left_pose_command_sub.subscribe(node, "left/pose_command", 1);
        left_pose_command_filter.reset(new tf::MessageFilter<geometry_msgs::PoseStamped>(left_pose_command_sub, tfListener, cc.root_name, 10, node ));
        left_pose_command_filter->registerCallback(boost::bind(&R2ImpedanceController::pose_left_command, this, _1));

        right_pose_command_sub.subscribe(node, "right/pose_command", 1);
        right_pose_command_filter.reset(new tf::MessageFilter<geometry_msgs::PoseStamped>(right_pose_command_sub, tfListener, cc.root_name, 10, node));
        right_pose_command_filter->registerCallback(boost::bind(&R2ImpedanceController::pose_right_command, this, _1));

        left_pose_vel_command_sub.subscribe(node, "left/pose_twist_command", 1);
        left_pose_vel_command_filter.reset(new tf::MessageFilter<nasa_r2_common_msgs::PoseTwistStamped>(left_pose_vel_command_sub, tfListener, cc.root_name, 10, node ));
        left_pose_vel_command_filter->registerCallback(boost::bind(&R2ImpedanceController::pose_vel_left_command, this, _1));

        right_pose_vel_command_sub.subscribe(node, "right/pose_twist_command", 1);
        right_pose_vel_command_filter.reset(new tf::MessageFilter<nasa_r2_common_msgs::PoseTwistStamped>(right_pose_vel_command_sub, tfListener, cc.root_name, 10, node ));
        right_pose_vel_command_filter->registerCallback(boost::bind(&R2ImpedanceController::pose_vel_right_command, this, _1));


        
        set_gains_sub = node.subscribe("set_gains", 3, &R2ImpedanceController::set_gains, this );
        gains_publisher.reset( new realtime_tools::RealtimePublisher<nasa_r2_common_msgs::Gains>(node, "gains", 5 ));
        
        
        srv_set_joint_mode = node.advertiseService("set_joint_mode", &R2ImpedanceController::set_joint_mode, this);
        srv_set_tip_name   = node.advertiseService("set_tip_name",   &R2ImpedanceController::set_tip_name,   this);

        srv_set_power = node.advertiseService("power", &R2ImpedanceController::set_power, this);
        srv_set_servo = node.advertiseService("servo", &R2ImpedanceController::set_servo, this);
        
        
        
}
//since JointState actually names the joints, we don't need seperate functions for left/right/neck/waist joints
// if desired, could check for illegal names ( left shouldn't change right values, etc ) but really should just
// consolidate to one topic 
void R2ImpedanceController::joint_left_command(const sensor_msgs::JointState::ConstPtr& msg ){ joint_command(msg);}
void R2ImpedanceController::joint_right_command(const sensor_msgs::JointState::ConstPtr& msg ){joint_command(msg);}
void R2ImpedanceController::joint_neck_command(const sensor_msgs::JointState::ConstPtr& msg ){joint_command(msg);}
void R2ImpedanceController::joint_waist_command(const sensor_msgs::JointState::ConstPtr& msg ){joint_command(msg);}
void R2ImpedanceController::pose_left_command(const geometry_msgs::PoseStamped::ConstPtr& msg){
        Frame f = transformPoseMsg(msg);
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        cc.leftCmd[0] = f.p[0];
        cc.leftCmd[1] = f.p[1];
        cc.leftCmd[2] = f.p[2];
        double& w = cc.leftCmd[3];
        double& x = cc.leftCmd[4];
        double& y = cc.leftCmd[5];
        double& z = cc.leftCmd[6];
        f.M.GetQuaternion(x,y,z,w);
        cc.left_cart_vel = false;
}
void R2ImpedanceController::pose_right_command(const geometry_msgs::PoseStamped::ConstPtr& msg){
        Frame f = transformPoseMsg(msg);
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        cc.rightCmd[0] = f.p[0];
        cc.rightCmd[1] = f.p[1];
        cc.rightCmd[2] = f.p[2];
        double& w = cc.rightCmd[3];
        double& x = cc.rightCmd[4];
        double& y = cc.rightCmd[5];
        double& z = cc.rightCmd[6];
        f.M.GetQuaternion(x,y,z,w);
        cc.right_cart_vel = false;
}
void R2ImpedanceController::pose_vel_left_command(const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr& msg ){
        pose_vel_command_inner( msg, cc.leftCmd, cc.leftVelCmd, cc.left_cart_vel );
}
void R2ImpedanceController::pose_vel_right_command(const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr& msg ){
        pose_vel_command_inner( msg, cc.rightCmd, cc.rightVelCmd, cc.right_cart_vel );
}
void R2ImpedanceController::pose_vel_command_inner(     const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr& msg,
                                                        Eigen::Matrix<double,7,1>& cmd,
                                                        KDL::Twist& velCmd,
                                                        bool& cart_vel)
{
        geometry_msgs::PoseStamped p;
        p.header = msg->header;
        p.pose = msg->pose;
        
        Frame f;
        tf::Stamped<tf::Pose> pose_stamped;
        tf::poseStampedMsgToTF(p, pose_stamped);
        
        //directly from tf.cpp::line 1448, Transformer::transformPose
        // need transform for next steps
        tf::StampedTransform transform;
        tfListener.lookupTransform( cc.root_name, pose_stamped.frame_id_, pose_stamped.stamp_, transform );
        pose_stamped.setData( transform * pose_stamped );
        pose_stamped.stamp_ = transform.stamp_;
        pose_stamped.frame_id_ = cc.root_name;
        tf::PoseTFToKDL(pose_stamped, f );
        
        tf::Quaternion quat = transform.getRotation();
        transform.setIdentity();
        transform.setRotation( quat );
        const geometry_msgs::Vector3& linear = msg->twist.linear;
        const geometry_msgs::Vector3& angular = msg->twist.angular;
        tf::Vector3 cartVel(linear.x, linear.y, linear.z );
        tf::Vector3 cartAngVel( angular.x, angular.y, angular.z );
        tf::Vector3 r_cartVel = transform * cartVel;
        tf::Vector3 r_cartAngVel = transform * cartAngVel;
        
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        cmd[0] = f.p[0];
        cmd[1] = f.p[1];
        cmd[2] = f.p[2];
        double& w = cmd[3];
        double& x = cmd[4];
        double& y = cmd[5];
        double& z = cmd[6];
        f.M.GetQuaternion(x,y,z,w);
        
        velCmd.vel[0] = r_cartVel[0];
        velCmd.vel[1] = r_cartVel[1];
        velCmd.vel[2] = r_cartVel[2];
        velCmd.rot[0] = r_cartAngVel[0];
        velCmd.rot[1] = r_cartAngVel[1];
        velCmd.rot[2] = r_cartAngVel[2];
        cart_vel=true;
}
KDL::Frame R2ImpedanceController::transformPoseMsg(const geometry_msgs::PoseStamped::ConstPtr& msg){
        Frame frame;
        tf::Stamped<tf::Pose> pose_stamped;
        tf::poseStampedMsgToTF(*msg, pose_stamped);
        tfListener.transformPose( cc.root_name, pose_stamped, pose_stamped );
        tf::PoseTFToKDL(pose_stamped, frame );
        
        return frame;
}
void R2ImpedanceController::set_gains(const nasa_r2_common_msgs::Gains::ConstPtr& msg ){
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        size_t size = msg->joint_names.size();
        if( size != msg->K.size() || size!= msg->D.size() ){
                cout << "WARNING: discarding Gains msg due to mismatch in size.  joint_names: " << size << " values: " << msg->K.size() <<" " <<msg->D.size() << endl;
                return;
        }
        static const string cart_left_names[] = { "cart_left_0", 
                                                                                          "cart_left_1",
                                                                                          "cart_left_2",
                                                                                          "cart_left_3",
                                                                                          "cart_left_4",
                                                                                          "cart_left_5" };
        static const string cart_right_names[] = {  "cart_right_0",
                                                                                                "cart_right_1",
                                                                                                "cart_right_2",
                                                                                                "cart_right_3",
                                                                                                "cart_right_4",
                                                                                                "cart_right_5"};
         
        
        
        for( size_t x=0; x<size; ++x ){
                map< string, int>::const_iterator i = cc.name2idx.find( msg->joint_names[x] );
                if( i != cc.name2idx.end() ){
                        cc.K[i->second] = msg->K[x];
                        cc.D[i->second] = msg->D[x];
                } else {
                        for( int y=0; y<6; ++y ){
                                if( msg->joint_names[x] == cart_left_names[y] ){
                                        cc.cartK_left[y] = msg->K[x];
                                        cc.cartD_left[y] = msg->D[x];
                                        break;
                                }
                                if( msg->joint_names[x] == cart_right_names[y] ){
                                        cc.cartK_right[y] = msg->K[x];
                                        cc.cartD_right[y] = msg->D[x];
                                        break;
                                }
                        }
                }
        }
        
}


void R2ImpedanceController::joint_command(const sensor_msgs::JointState::ConstPtr& msg){
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        
        bool set_position = !msg->position.empty();
        bool set_velocity = !msg->velocity.empty();
        
        if( set_position && msg->position.size() != msg->name.size() ){
                ROS_DEBUG("bad JointState msg: position and name field size mismatch");
                return;
        }
        if( set_velocity && msg->velocity.size() != msg->name.size() ){
                ROS_DEBUG("bad JointState msg: velocity and name field size mismatch");
                return;
        }
        if( set_position ){
                for( size_t x=0; x< msg->name.size(); ++x ){
                        const string& name = msg->name[x];
                        double p_value = msg->position[x];
                        double v_value = 0;
                        bool v_desired = false;
                        if( set_velocity ){
                                v_value = msg->velocity[x];
                                v_desired = true;
                        } 
                        
                        map<string,int>::const_iterator i = cc.name2idx.find(name);
                        if( i != cc.name2idx.end() ){
                                if( p_value > cc.jntsUpperLimit[ i->second ] )
                                        p_value = cc.jntsUpperLimit[ i->second ];
                                if( p_value < cc.jntsLowerLimit[ i->second ] )
                                        p_value = cc.jntsLowerLimit[ i->second ];
                        }
                        joint_command_entry( name, p_value, cc.desired );
                        joint_command_entry( name, v_value, cc.desiredVel );
                        // since vector<bool> is odd, use vector<int> instead for 
                        // vector of bools, requires our bool value to turn into an int
                        joint_command_entry( name, (true), cc.joint_pos_control );
                        joint_command_entry( name, (v_desired), cc.joint_vel_control );
                }
        } else {
                for( size_t x=0; x< msg->velocity.size(); ++x ){
                        const string& name = msg->name[x];
                        const double value = msg->velocity[x];
                        
                        joint_command_entry(name, false, cc.joint_pos_control );
                        joint_command_entry(name, true, cc.joint_vel_control );
                        joint_command_entry( name, value, cc.desiredVel );
                }
        }
};
void R2ImpedanceController::joint_command_entry( const string& name, double value, vector<double>& desired ){
        //need to handle non-independent joint differently
    const static string not_independent[] = { "/r2/left_arm/hand/index/joint3",
                                              "/r2/left_arm/hand/middle/joint3",
                                              "/r2/left_arm/hand/ring/joint1",
                                              "/r2/left_arm/hand/ring/joint2",
                                              "/r2/left_arm/hand/little/joint1",
                                              "/r2/left_arm/hand/little/joint2",
                                              "/r2/right_arm/hand/index/joint3",
                                              "/r2/right_arm/hand/middle/joint3",
                                              "/r2/right_arm/hand/ring/joint1",
                                              "/r2/right_arm/hand/ring/joint2",
                                              "/r2/right_arm/hand/little/joint1",
                                              "/r2/right_arm/hand/little/joint2" };
        const static int ni_count = 12;
        bool found = false;
        for( int x=0; x< ni_count; ++x ){
                if( name == not_independent[x] ){
                        found = true;
                        break;
                }
        }
        if( found )     
                return;
        
        map<string,int>::const_iterator i = cc.name2idx.find(name);
        if( i != cc.name2idx.end() ){
                desired[ i->second ] = value;
        }
        if( name == "/r2/left_arm/hand/index/joint2" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/index/joint3" ] ] = value;
        } else if( name == "/r2/left_arm/hand/middle/joint2" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/middle/joint3" ] ] = value;
        } else if( name == "/r2/left_arm/hand/ring/joint0" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/ring/joint0" ] ] = value*.5;           //when value is bool, value*.5 == false, which is a problem
                desired[ cc.name2idx[ "/r2/left_arm/hand/ring/joint1" ] ] = value*.5;
                desired[ cc.name2idx[ "/r2/left_arm/hand/ring/joint2" ] ] = value*.5;
        } else if( name == "/r2/left_arm/hand/little/joint0" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/little/joint0" ] ] = value*.5;
                desired[ cc.name2idx[ "/r2/left_arm/hand/little/joint1" ] ] = value*.5;
                desired[ cc.name2idx[ "/r2/left_arm/hand/little/joint2" ] ] = value*.5;
        } else if( name == "/r2/right_arm/hand/index/joint2" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/index/joint3" ] ] = value;
        } else if( name == "/r2/right_arm/hand/middle/joint2" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/middle/joint3" ] ] = value;
        } else if( name == "/r2/right_arm/hand/ring/joint0" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/ring/joint0" ] ] = value*.5;
                desired[ cc.name2idx[ "/r2/right_arm/hand/ring/joint1" ] ] = value*.5;
                desired[ cc.name2idx[ "/r2/right_arm/hand/ring/joint2" ] ] = value*.5;
        } else if( name == "/r2/right_arm/hand/little/joint0" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/little/joint0" ] ] = value*.5;
                desired[ cc.name2idx[ "/r2/right_arm/hand/little/joint1" ] ] = value*.5;
                desired[ cc.name2idx[ "/r2/right_arm/hand/little/joint2" ] ] = value*.5;
        }
}
void R2ImpedanceController::joint_command_entry( const string& name, bool value, vector<int>& desired ){
        //need to handle non-independent joint differently
    const static string not_independent[] = { "/r2/left_arm/hand/index/joint3",
                                              "/r2/left_arm/hand/middle/joint3",
                                              "/r2/left_arm/hand/ring/joint1",
                                              "/r2/left_arm/hand/ring/joint2",
                                              "/r2/left_arm/hand/little/joint1",
                                              "/r2/left_arm/hand/little/joint2",
                                              "/r2/right_arm/hand/index/joint3",
                                              "/r2/right_arm/hand/middle/joint3",
                                              "/r2/right_arm/hand/ring/joint1",
                                              "/r2/right_arm/hand/ring/joint2",
                                              "/r2/right_arm/hand/little/joint1",
                                              "/r2/right_arm/hand/little/joint2" };
        const static int ni_count = 12;
        bool found = false;
        for( int x=0; x< ni_count; ++x ){
                if( name == not_independent[x] ){
                        found = true;
                        break;
                }
        }
        if( found )     
                return;
        
        map<string,int>::const_iterator i = cc.name2idx.find(name);
        if( i != cc.name2idx.end() ){
                desired[ i->second ] = value;
        }
        if( name == "/r2/left_arm/hand/index/joint2" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/index/joint3" ] ] = value;
        } else if( name == "/r2/left_arm/hand/middle/joint2" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/middle/joint3" ] ] = value;
        } else if( name == "/r2/left_arm/hand/ring/joint0" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/ring/joint0" ] ] = value;              //when value is bool, value*.5 == false, which is a problem
                desired[ cc.name2idx[ "/r2/left_arm/hand/ring/joint1" ] ] = value;
                desired[ cc.name2idx[ "/r2/left_arm/hand/ring/joint2" ] ] = value;
        } else if( name == "/r2/left_arm/hand/little/joint0" ){
                desired[ cc.name2idx[ "/r2/left_arm/hand/little/joint0" ] ] = value;
                desired[ cc.name2idx[ "/r2/left_arm/hand/little/joint1" ] ] = value;
                desired[ cc.name2idx[ "/r2/left_arm/hand/little/joint2" ] ] = value;
        } else if( name == "/r2/right_arm/hand/index/joint2" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/index/joint3" ] ] = value;
        } else if( name == "/r2/right_arm/hand/middle/joint2" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/middle/joint3" ] ] = value;
        } else if( name == "/r2/right_arm/hand/ring/joint0" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/ring/joint0" ] ] = value;
                desired[ cc.name2idx[ "/r2/right_arm/hand/ring/joint1" ] ] = value;
                desired[ cc.name2idx[ "/r2/right_arm/hand/ring/joint2" ] ] = value;
        } else if( name == "/r2/right_arm/hand/little/joint0" ){
                desired[ cc.name2idx[ "/r2/right_arm/hand/little/joint0" ] ] = value;
                desired[ cc.name2idx[ "/r2/right_arm/hand/little/joint1" ] ] = value;
                desired[ cc.name2idx[ "/r2/right_arm/hand/little/joint2" ] ] = value;
        }
}


bool R2ImpedanceController::set_joint_mode(nasa_r2_common_msgs::SetJointMode::Request  &req,  nasa_r2_common_msgs::SetJointMode::Response &res ){ 
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        class Local{
                public:
                static void setDesired( vector<double>& desired, const vector<double>& current, const TreeChain& tc ){
                        int size = tc.size();
                        for( int x=0; x< size; ++x ){
                                int idx = tc.treeIdx(x);
                                desired[idx] = current[idx];
                        }
                }
        };
        if( req.arm_name == "left" && cc.left_cart ){
                cc.left_cart = false;
                Local::setDesired( cc.desired, cc.treeJnts, cc.left );
        }
        if( req.arm_name == "right" && cc.right_cart ){
                cc.right_cart = false;
                Local::setDesired( cc.desired, cc.treeJnts, cc.right );
        }
        if( req.arm_name == "neck" && cc.neck_cart ){
                cc.neck_cart = false;
                Local::setDesired( cc.desired, cc.treeJnts, cc.neck );
        }
                
        res.result = true;
        cc.reactivate();
        
        return res.result;
}
bool R2ImpedanceController::set_tip_name(nasa_r2_common_msgs::SetTipName::Request &req,  nasa_r2_common_msgs::SetTipName::Response &res ){
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        if( req.arm_name == "left" ){
                cc.left.init( cc.robot_tree, cc.root_name, req.tip_name, cc.cartK_left, cc.cartD_left );
                cc.activate( cc.left, cc.left_cart, cc.leftCmd );
        res.result = true;
        } else if( req.arm_name == "right" ){
                cc.right.init( cc.robot_tree, cc.root_name, req.tip_name, cc.cartK_right, cc.cartD_right );
                cc.activate( cc.right, cc.right_cart, cc.rightCmd );
        res.result = true;
        } else {
                res.result = false;
        }
        return res.result;
}
bool R2ImpedanceController::set_power(nasa_r2_common_msgs::Power::Request &req,  nasa_r2_common_msgs::Power::Response &res ){ res.status = true; return true;}
bool R2ImpedanceController::set_servo(nasa_r2_common_msgs::Servo::Request &req,  nasa_r2_common_msgs::Servo::Response &res ){ res.status = true; return true;}

void R2ImpedanceController::CtrlCalc::activate( TreeChain& tc, bool& flag, Eigen::Matrix<double,7,1>& pose_cmd ){
        flag = true;
        
        for( int x=0; x<tc.size(); ++x ){
                int idx = tc.treeIdx(x);
                K[ idx ] = K_low[ idx ];
                D[ idx ] = D_low[ idx ];
        }
        pose_cmd = tc.fk( treeJnts );
}
void R2ImpedanceController::CtrlCalc::reactivate(){
        for( int x=0; x<jnt_size; ++x ){
                K[x] = K_high[x];
                D[x] = D_high[x];
        }
        bool dummy_flag;
        Eigen::Matrix<double,7,1> dummy_cmd;
        if( left_cart )
                activate( left, dummy_flag, dummy_cmd );
        if( right_cart )
                activate( right, dummy_flag, dummy_cmd );
        if( neck_cart )
                activate( neck, dummy_flag, dummy_cmd );
}


KDL::JntArray R2ImpedanceController::CtrlCalc::jointKCmd(const vector<double>& q){
        
        KDL::JntArray result( jnt_size );
        for( int x=0; x< jnt_size; ++x ){
                if( joint_pos_control[x] )
                        result(x) = (K[x] * (desired[x] - q[x]));
                else
                        result(x) = 0;
        }
        return result;
}
KDL::JntArray R2ImpedanceController::CtrlCalc::jointDCmd(const vector<double>& dq){
        
        KDL::JntArray result( jnt_size );
        for( int x=0; x< jnt_size; ++x ){
                result(x) = (desiredVel[x]-D[x]) * dq[x];
        }
        return result;
}


void R2ImpedanceController::update(){
        boost::lock_guard<boost::mutex> lock(thread_mutex);
        
        ros::Time last_time = time;
        time = robot_state->getTime();
        double deltaT = (time-last_time).toSec();
        if( deltaT < .000001 )
                deltaT = .000001;
        //const double qd_scale_factor = 1;
        
        
        cc.wbc.reset();
        //cout << deltaT << " | ";
        {
                for( int x=0; x<cc.jnt_size; ++x ){
                        double p = robotStateJoints[x]->position_;
                        double v = robotStateJoints[x]->velocity_;
                        //double v2 = (p-treeJnts[x])/deltaT;
                        //if( fabs(v-v2) < .01 )
                        //      cout << ".";
                        //else
                        //      cout << v << " " << v2 <<" [" << p << " " << idx2name[x] <<"] \t";
                        if( v == v ){   
                                if( v < -1.0 )
                                        v = -1.0;
                                else if( v > 1.0 )
                                        v = 1.0;
                                
                                
                                cc.treeJntsVelAvg[x] = v;
                        } else
                                cc.treeJntsVelAvg[x] = 0;{
                        //      v = (p - treeJnts[x])/deltaT;
                        //      if( v == v )
                        //              treeJntsVel[x] = v;
                        }
                        cc.treeJntsAvg[x] = p;
                        cc.treeJnts[x] = cc.treeJntsAvg[x];
                        cc.treeJntsVel[x] = cc.treeJntsVelAvg[x];
                }
        }
        
        
        cc.calculate();
        {
                for( int x=0; x<cc.jnt_size; ++x ){
                        robotStateJoints[x]->commanded_effort_ = cc.torques(x);
                }
                robot_state->enforceSafety();
        }
        static int loopCnt = 0;
        if( loopCnt++ > 50 ){
                loopCnt=0;
                publish_msgs();
        }
}
void R2ImpedanceController::CtrlCalc::calculate(){      
        
        KDL::SetToZero(torques);
        Eigen::VectorXd left_t = Eigen::VectorXd::Zero(jnt_size);
        Eigen::VectorXd right_t = Eigen::VectorXd::Zero(jnt_size);
        
        
        Wrenches wrenches( robot_tree.getNrOfSegments() + 1 ); //KDL has a discrepancy between segments in SegmentMap (has an extra ) and getNrOfSegments, for now add one
        vector<double> zeros( treeJnts.size() );
        for( unsigned int x=0; x<treeJnts.size(); ++x )
                zeros[x] = 0;
        
        rne_calc->CartToJnt( treeJnts, treeJntsVel, zeros, wrenches, torques);
        
        if( left_cart ){
                if( left_cart_vel )
                        torques.data += wbc.project( left.moveCart(leftCmd, leftVelCmd, treeJnts, treeJntsVel), left ).data;
                else
                        torques.data += wbc.project( left.moveCart(leftCmd, treeJnts, treeJntsVel ), left ).data;
        }
        if( right_cart ){
                if( right_cart_vel )
                        torques.data += wbc.project( right.moveCart( rightCmd, rightVelCmd, treeJnts, treeJntsVel), right ).data;
                else
                        torques.data += wbc.project( right.moveCart(rightCmd, treeJnts, treeJntsVel), right ).data;
        }
        if( neck_cart )
                torques.data += wbc.project( neck.moveCart(neckCmd, treeJnts, treeJntsVel), neck ).data;
        
        torques.data += wbc.project( jointKCmd( treeJnts ) ).data;
        
        torques.data += wbc.project( jointDCmd( treeJntsVel ) ).data;
        //torques.data += jointDCmd( treeJntsVel).data; 

}

void R2ImpedanceController::publish_msgs(){
        if( gains_publisher && gains_publisher->trylock() ){
                nasa_r2_common_msgs::Gains& msg = gains_publisher->msg_;
                msg.joint_names.clear();
                msg.K.clear();
                msg.D.clear();
                for( map<string,int>::const_iterator i=cc.name2idx.begin(); i!=cc.name2idx.end(); ++i ){
                        msg.joint_names.push_back( i->first );
                        msg.K.push_back( cc.K[ i->second ] );
                        msg.D.push_back( cc.D[ i->second ] );
                }
                string cleft = "cart_left_";
                string cright = "cart_right_";
                for( int x=0; x<6; ++x ){
                        stringstream ss;
                        ss << x;
                        msg.joint_names.push_back( cleft + ss.str() );
                        msg.K.push_back( cc.cartK_left[x] );
                        msg.D.push_back( cc.cartD_left[x] );
                        
                        msg.joint_names.push_back( cright + ss.str() );
                        msg.K.push_back( cc.cartK_right[x] );
                        msg.D.push_back( cc.cartD_right[x] );
                }
                gains_publisher->unlockAndPublish();
        }
        if( cc.left_cart ){
                Eigen::Matrix<double, 7, 1> fk = cc.left.fk(cc.treeJnts);
                KDL::Frame f1( KDL::Rotation::Quaternion( fk[4], fk[5], fk[6], fk[3] ), KDL::Vector( fk[0], fk[1], fk[2] ) );
                KDL::Frame f2( KDL::Rotation::Quaternion( cc.leftCmd[4], cc.leftCmd[5], cc.leftCmd[6], cc.leftCmd[3] ), KDL::Vector( cc.leftCmd[0], cc.leftCmd[1], cc.leftCmd[2] ) );
                
                KDL::Twist twist = KDL::diff( f1, f2 ); 
        
                if( left_pose_error_publisher && left_pose_error_publisher->trylock() ){
                        left_pose_error_publisher->msg_.linear.x = twist.vel(0);
                        left_pose_error_publisher->msg_.linear.y = twist.vel(1);
                        left_pose_error_publisher->msg_.linear.z = twist.vel(2);
                        left_pose_error_publisher->msg_.angular.x = twist.rot(0);
                        left_pose_error_publisher->msg_.angular.y = twist.rot(1);
                        left_pose_error_publisher->msg_.angular.z = twist.rot(2);
                        left_pose_error_publisher->unlockAndPublish();
                }
                if( left_tip_pose_publisher && left_tip_pose_publisher->trylock() ){
                        tf::Pose tmp;
                        tf::PoseKDLToTF( f1, tmp );
                        poseStampedTFToMsg( tf::Stamped<tf::Pose>( tmp, ros::Time::now(), cc.root_name), left_tip_pose_publisher->msg_ );
                        left_tip_pose_publisher->unlockAndPublish();
                }
        }
        if( cc.right_cart ){
                Eigen::Matrix<double, 7, 1> fk = cc.right.fk(cc.treeJnts);
                KDL::Frame f1( KDL::Rotation::Quaternion( fk[4], fk[5], fk[6], fk[3] ), KDL::Vector( fk[0], fk[1], fk[2] ) );
                KDL::Frame f2( KDL::Rotation::Quaternion( cc.rightCmd[4], cc.rightCmd[5], cc.rightCmd[6], cc.rightCmd[3] ), KDL::Vector( cc.rightCmd[0], cc.rightCmd[1], cc.rightCmd[2] ) );
                
                KDL::Twist twist = KDL::diff( f1, f2 ); 
                
                if( right_pose_error_publisher && right_pose_error_publisher->trylock() ){
                        right_pose_error_publisher->msg_.linear.x  = twist.vel(0);
                        right_pose_error_publisher->msg_.linear.y  = twist.vel(1);
                        right_pose_error_publisher->msg_.linear.z  = twist.vel(2);
                        right_pose_error_publisher->msg_.angular.x = twist.rot(0);
                        right_pose_error_publisher->msg_.angular.y = twist.rot(1);
                        right_pose_error_publisher->msg_.angular.z = twist.rot(2);
                        right_pose_error_publisher->unlockAndPublish();
                }

                if( right_tip_pose_publisher && right_tip_pose_publisher->trylock() ){
                        tf::Pose tmp;
                        tf::PoseKDLToTF( f1, tmp );
                        poseStampedTFToMsg( tf::Stamped<tf::Pose>( tmp, ros::Time::now(), cc.root_name), right_tip_pose_publisher->msg_ );
                        right_tip_pose_publisher->unlockAndPublish();
                }
        }
        
}




PLUGINLIB_DECLARE_CLASS(r2_controllers_gazebo, R2ImpedanceController, r2_controller_ns::R2ImpedanceController, pr2_controller_interface::Controller)