Program Listing for File position_motion.cpp
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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
* \file position_motion.cpp
* \brief This file contains the implementation of the PositionMotion class.
* \authors Miguel Fernández Cortizas
* Pedro Arias Pérez
* David Pérez Saura
* Rafael Pérez Seguí
********************************************************************************/
#include "as2_motion_reference_handlers/position_motion.hpp"
namespace as2
{
namespace motionReferenceHandlers
{
PositionMotion::PositionMotion(as2::Node * node_ptr, const std::string & ns)
: BasicMotionReferenceHandler(node_ptr, ns)
{
desired_control_mode_.yaw_mode = as2_msgs::msg::ControlMode::NONE;
desired_control_mode_.control_mode = as2_msgs::msg::ControlMode::POSITION;
desired_control_mode_.reference_frame = as2_msgs::msg::ControlMode::UNDEFINED_FRAME;
}
bool PositionMotion::ownSendCommand()
{
bool send_pose = sendPoseCommand();
bool send_twist = sendTwistCommand();
return send_pose && send_twist;
}
bool PositionMotion::sendPositionCommandWithYawAngle(
const std::string & frame_id_pose,
const float & x,
const float & y,
const float & z,
const float & yaw_angle,
const std::string & frame_id_twist,
const float & vx = 0.0f,
const float & vy = 0.0f,
const float & vz = 0.0f)
{
return sendPositionCommandWithYawAngle(
frame_id_pose, x, y, z, tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), yaw_angle)),
frame_id_twist, vx, vy, vz);
}
bool PositionMotion::sendPositionCommandWithYawAngle(
const std::string & frame_id_pose,
const float & x,
const float & y,
const float & z,
const geometry_msgs::msg::Quaternion & q,
const std::string & frame_id_twist,
const float & vx = 0.0f,
const float & vy = 0.0f,
const float & vz = 0.0f)
{
geometry_msgs::msg::PoseStamped pose_msg;
pose_msg.header.frame_id = frame_id_pose;
pose_msg.pose.position.x = x;
pose_msg.pose.position.y = y;
pose_msg.pose.position.z = z;
pose_msg.pose.orientation = q;
geometry_msgs::msg::TwistStamped twist_msg;
twist_msg.header.frame_id = frame_id_twist;
twist_msg.twist.linear.x = vx;
twist_msg.twist.linear.y = vy;
twist_msg.twist.linear.z = vz;
rclcpp::Time stamp = node_ptr_->now();
pose_msg.header.stamp = stamp;
twist_msg.header.stamp = stamp;
return sendPositionCommandWithYawAngle(pose_msg, twist_msg);
}
bool PositionMotion::sendPositionCommandWithYawAngle(
const geometry_msgs::msg::PoseStamped & pose,
const geometry_msgs::msg::TwistStamped & twist)
{
if (pose.header.frame_id == "" || twist.header.frame_id == "") {
RCLCPP_ERROR(node_ptr_->get_logger(), "Frame id is empty");
return false;
}
desired_control_mode_.yaw_mode = as2_msgs::msg::ControlMode::YAW_ANGLE;
this->command_pose_msg_ = pose;
this->command_twist_msg_ = twist;
return this->ownSendCommand();
}
bool PositionMotion::sendPositionCommandWithYawSpeed(
const std::string & frame_id_pose,
const float & x,
const float & y,
const float & z,
const float & yaw_speed,
const std::string & frame_id_twist,
const float & vx = 0.0f,
const float & vy = 0.0f,
const float & vz = 0.0f)
{
geometry_msgs::msg::PoseStamped pose_msg;
pose_msg.header.frame_id = frame_id_pose;
pose_msg.pose.position.x = x;
pose_msg.pose.position.y = y;
pose_msg.pose.position.z = z;
geometry_msgs::msg::TwistStamped twist_msg;
twist_msg.header.frame_id = frame_id_twist;
twist_msg.twist.linear.x = vx;
twist_msg.twist.linear.y = vy;
twist_msg.twist.linear.z = vz;
twist_msg.twist.angular.z = yaw_speed;
rclcpp::Time stamp = node_ptr_->now();
pose_msg.header.stamp = stamp;
twist_msg.header.stamp = stamp;
return sendPositionCommandWithYawSpeed(pose_msg, twist_msg);
}
bool PositionMotion::sendPositionCommandWithYawSpeed(
const geometry_msgs::msg::PoseStamped & pose,
const geometry_msgs::msg::TwistStamped & twist)
{
if (pose.header.frame_id == "" || twist.header.frame_id == "") {
RCLCPP_ERROR(node_ptr_->get_logger(), "Frame id is empty");
return false;
}
desired_control_mode_.yaw_mode = as2_msgs::msg::ControlMode::YAW_SPEED;
this->command_pose_msg_ = pose;
this->command_twist_msg_ = twist;
return this->ownSendCommand();
}
} // namespace motionReferenceHandlers
} // namespace as2