base_kinematics.h

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/*
 * Author: Sachin Chitta and Matthew Piccoli
 */
 
#ifndef PR2_BASE_KINEMATICS_H
#define PR2_BASE_KINEMATICS_H
 
#include <pr2_mechanism_model/robot.h>
#include <pr2_controller_interface/controller.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <control_toolbox/filters.h>
#include <boost/thread/condition.hpp>
 
namespace controller
{
  class Wheel;
  class Caster;
  class BaseKinematics;
  class Wheel
  {
    public:
 
      pr2_mechanism_model::JointState *joint_;
 
      geometry_msgs::Point offset_;
 
      std::string joint_name_;
 
      std::string link_name_;
 
 
      geometry_msgs::Point position_;
 
      Caster *parent_;
 
      double wheel_speed_actual_;
 
      double wheel_speed_cmd_;
 
      double wheel_speed_error_;
 
      double wheel_speed_filtered_;
 
      int direction_multiplier_;
 
      int wheel_stuck_;
 
      double wheel_radius_;
 
      bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name);
 
      void updatePosition();
  };
 
  class Caster
  {
    public:
 
      pr2_mechanism_model::JointState *joint_;
 
      geometry_msgs::Point offset_;
 
      std::string link_name_;
 
      std::string joint_name_;
 
      //geometry_msgs::Point position_;
 
      BaseKinematics *parent_;
 
      int num_children_;
 
      double steer_angle_actual_;
 
      double steer_angle_desired_;
 
      double steer_velocity_desired_;
 
      double steer_angle_stored_;
 
      double caster_position_error_;
 
      double caster_speed_error_;
 
      double caster_speed_filtered_;
 
      double caster_speed_;
 
      int caster_stuck_;
 
      bool init(pr2_mechanism_model::RobotState *robot_state,  ros::NodeHandle &node, std::string link_name);
  };
 
  class BaseKinematics
  {
    public:
 
    bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node);
 
      void computeWheelPositions();
 
      geometry_msgs::Twist pointVel2D(const geometry_msgs::Point& pos, const geometry_msgs::Twist& vel);
 
      pr2_mechanism_model::RobotState *robot_state_;
 
      int num_wheels_;
 
      int num_casters_;
 
      std::vector<Wheel> wheel_;
 
      std::vector<Caster> caster_;
 
      std::string xml_caster_name_;
 
      std::string xml_wheel_name_;
 
      std::string name_;
 
      double MAX_DT_;
 
      std::string robot_base_id_;
  };
} // namespace
#endif