cartesian_controller.hpp

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#ifndef cartesian_controller_hpp___
#define cartesian_controller_hpp___

#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <geometry_msgs/TwistStamped.h>

#include <boost/scoped_ptr.hpp>
#include <kdl/chain.hpp>
#include <kdl/tree.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/frames.hpp>
#include <kdl/jacobian.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/chainiksolver.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <kdl/chainfksolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>


namespace velocity_controllers
{

class CartesianController : public controller_interface::Controller<hardware_interface::VelocityJointInterface>
{
public:
    bool init(hardware_interface::VelocityJointInterface* hw, ros::NodeHandle &nh);

    void update(const ros::Time& time, const ros::Duration& period);

    void starting(const ros::Time& time);
    void stopping(const ros::Time& time);

private:
    hardware_interface::JointHandle joint_;
    ros::Subscriber vel_cmd_sub_;

    KDL::Tree kdl_tree_;
    KDL::Chain kdl_chain_;
    std::vector<hardware_interface::JointHandle> joint_handles_;

    boost::scoped_ptr<KDL::ChainIkSolverVel> chain_ik_solver_vel_;
    boost::scoped_ptr<KDL::ChainFkSolverPos> chain_fk_solver_;

    KDL::Twist cmd_linear_twist_;
    KDL::Twist cmd_angular_twist_;

    std::string root_name_, tip_name_;

    bool got_msg_;

    ros::Time last_msg_;
    ros::Duration dead_man_timeout_;

    double joint_vel_limit_;

    void velCmdCB(const geometry_msgs::TwistStampedConstPtr& msg);
};

}

#endif // cartesian_controller_hpp___