cartesian_wrench_controller.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029 
00054 #ifndef CARTESIAN_WRENCH_CONTROLLER_H
00055 #define CARTESIAN_WRENCH_CONTROLLER_H
00056 
00057 #include <vector>
00058 #include <kdl/chain.hpp>
00059 #include <kdl/frames.hpp>
00060 #include <kdl/chainjnttojacsolver.hpp>
00061 #include <ros/node_handle.h>
00062 #include <geometry_msgs/Wrench.h>
00063 #include <pr2_controller_interface/controller.h>
00064 #include <pr2_mechanism_model/chain.h>
00065 #include <tf/transform_datatypes.h>
00066 #include <realtime_tools/realtime_publisher.h>
00067 #include <boost/scoped_ptr.hpp>
00068 #include <boost/thread/condition.hpp>
00069 
00070 
00071 namespace controller {
00072 
00073 class CartesianWrenchController : public pr2_controller_interface::Controller
00074 {
00075 public:
00076   CartesianWrenchController();
00077   ~CartesianWrenchController();
00078 
00079   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00080 
00081   void starting();
00082   void update();
00083 
00084   // input of the controller
00085   KDL::Wrench wrench_desi_;
00086 
00087 private:
00088   ros::NodeHandle node_;
00089   ros::Subscriber sub_command_;
00090   void command(const geometry_msgs::WrenchConstPtr& wrench_msg);
00091   pr2_mechanism_model::RobotState *robot_state_;
00092   pr2_mechanism_model::Chain chain_;
00093 
00094   KDL::Chain kdl_chain_;
00095   boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_;
00096   KDL::JntArray jnt_pos_, jnt_eff_;
00097   KDL::Jacobian jacobian_;
00098 
00099 };
00100 
00101 } // namespace
00102 
00103 
00104 #endif


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Thu Apr 24 2014 15:44:43