pr2_base_controller2.h

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/*
 * Author: Sachin Chitta and Matthew Piccoli
 */

#include <ros/node_handle.h>
#include <realtime_tools/realtime_publisher.h>
#include <pr2_mechanism_controllers/BaseControllerState2.h>
#include <robot_mechanism_controllers/joint_velocity_controller.h>
#include <pr2_mechanism_controllers/base_kinematics.h>
#include <geometry_msgs/Twist.h>
#include <angles/angles.h>
#include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp>
#include <filters/transfer_function.hpp>

namespace controller
{
  class Pr2BaseController2: public pr2_controller_interface::Controller
  {
    public:
      Pr2BaseController2();

      ~Pr2BaseController2();

      /*
       * \brief  The starting method is called by the realtime thread just before
       * the first call to update.  Overrides Controller.staring().
       * @return Successful start
       */
      void starting();

      bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

      /*
       * \brief callback function for setting the desired velocity using a topic
       * @param cmd_vel Velocity command of the base in m/s and rad/s
       */
      void setCommand(const geometry_msgs::Twist &cmd_vel);

      geometry_msgs::Twist getCommand();

      BaseKinematics base_kinematics_;

      pthread_mutex_t pr2_base_controller_lock_;

      void update();

      void setJointCommands();

      void setDesiredCasterSteer();

    private:

      ros::NodeHandle node_;

      ros::NodeHandle root_handle_;

      ros::Subscriber cmd_sub_;

      ros::Subscriber cmd_sub_deprecated_;

      double timeout_;

      bool new_cmd_available_;

      ros::Time last_time_;

      ros::Time cmd_received_timestamp_;

      geometry_msgs::Twist cmd_vel_t_;

      geometry_msgs::Twist cmd_vel_;

      geometry_msgs::Twist desired_vel_;

      geometry_msgs::Twist max_vel_;

      geometry_msgs::Twist max_accel_;

      double max_translational_velocity_;

      double max_rotational_velocity_;

      double kp_caster_steer_;

      double alpha_stall_;

      std::vector<boost::shared_ptr<JointVelocityController> > wheel_controller_;

      std::vector<boost::shared_ptr<JointVelocityController> > caster_controller_;

      boost::scoped_ptr<realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseControllerState2> > state_publisher_;

      void computeJointCommands(const double &dT);

      void updateJointControllers();

      void computeDesiredCasterSteer(const double &dT);

      void computeDesiredWheelSpeeds(const double &dT);

      void setDesiredWheelSpeeds();

      geometry_msgs::Twist interpolateCommand(const geometry_msgs::Twist &start, const geometry_msgs::Twist &end, const geometry_msgs::Twist &max_rate, const double &dT);

      void commandCallback(const geometry_msgs::TwistConstPtr& msg);

      geometry_msgs::Twist base_vel_msg_;

      double eps_;

      double cmd_vel_rot_eps_;

      double state_publish_time_,state_publish_rate_;

      ros::Time last_publish_time_;

      double cmd_vel_trans_eps_;


      void publishState(const ros::Time &current_time);

      bool publish_state_;

      std::vector<control_toolbox::Pid> caster_position_pid_;

      filters::MultiChannelTransferFunctionFilter<double> caster_vel_filter_;

      std::vector<double> filtered_velocity_;

      filters::MultiChannelTransferFunctionFilter<double> wheel_vel_filter_;

      std::vector<double> filtered_wheel_velocity_;

      std::vector<control_toolbox::Pid> wheel_pid_controllers_;
  };

}