RosRobotModelProxy.h
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1 //| This file is a part of the ORCA framework.
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3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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36 
37 #pragma once
38 
39 #include <orca/robot/RobotModel.h>
41 
42 namespace orca_ros
43 {
44 namespace robot
45 {
46 
48  , public orca::robot::RobotModel
49 {
50 public:
51  RosRobotModelProxy(const std::string& robot_name);
52 
53  virtual ~RosRobotModelProxy();
54 
55  std::string getBaseFrame();
56  std::string getUrdfUrl();
57 
58 private:
59  void currentStateSubscriberCb(const orca_ros::RobotState::ConstPtr& msg);
60 
61 private:
62  ros::Subscriber robot_state_sub_;
63 
64  Eigen::Matrix4d world_H_base_;
65  Eigen::VectorXd jointPos_;
66  Eigen::Matrix<double,6,1> baseVel_;
67  Eigen::VectorXd jointVel_;
68  Eigen::Vector3d gravity_;
69 
70  bool initialized_ = false;
71 private:
72  ros::ServiceClient sc_getBaseFrame_;
73  ros::ServiceClient sc_getUrdfUrl_;
74 };
75 
76 } // namespace robot
77 } // namespace orca
std::string getUrdfUrl()
Definition: RosRobotModelProxy.cc:64
RosRobotModelProxy(const std::string &robot_name)
Definition: RosRobotModelProxy.cc:5
Definition: RosWrapperBase.h:50
virtual ~RosRobotModelProxy()
Definition: RosRobotModelProxy.cc:37
Definition: RosCartesianAccelerationPID.h:42
std::string getBaseFrame()
Definition: RosRobotModelProxy.cc:54
Definition: RosRobotModelProxy.h:47