RosGenericConstraintProxy.h
Go to the documentation of this file.
1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
5 //|
6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
11 //| This software is governed by the CeCILL-C license under French law and
12 //| abiding by the rules of distribution of free software. You can use,
13 //| modify and/ or redistribute the software under the terms of the CeCILL-C
14 //| license as circulated by CEA, CNRS and INRIA at the following URL
15 //| "http://www.cecill.info".
16 //|
17 //| As a counterpart to the access to the source code and rights to copy,
18 //| modify and redistribute granted by the license, users are provided only
19 //| with a limited warranty and the software's author, the holder of the
20 //| economic rights, and the successive licensors have only limited
21 //| liability.
22 //|
23 //| In this respect, the user's attention is drawn to the risks associated
24 //| with loading, using, modifying and/or developing or reproducing the
25 //| software by the user in light of its specific status of free software,
26 //| that may mean that it is complicated to manipulate, and that also
27 //| therefore means that it is reserved for developers and experienced
28 //| professionals having in-depth computer knowledge. Users are therefore
29 //| encouraged to load and test the software's suitability as regards their
30 //| requirements in conditions enabling the security of their systems and/or
31 //| data to be ensured and, more generally, to use and operate it in the
32 //| same conditions as regards security.
33 //|
34 //| The fact that you are presently reading this means that you have had
35 //| knowledge of the CeCILL-C license and that you accept its terms.
36 
37 #pragma once
38 
39 #include <orca/math/Utils.h>
41 namespace orca_ros
42 {
43 
44 namespace constraint
45 {
47  {
48  public:
49  RosGenericConstraintProxy( const std::string& robot_name,
50  const std::string& controller_name,
51  const std::string& constraint_name);
53 
54  public:
55  virtual void print();
56  orca::math::Size getSize();
57  int rows();
58  int cols();
59  virtual Eigen::VectorXd getLowerBound();
60  virtual Eigen::VectorXd getUpperBound();
61  virtual Eigen::MatrixXd getConstraintMatrix();
62 
63  private:
64  ros::ServiceClient sc_print_;
65  ros::ServiceClient sc_getSize_;
66  ros::ServiceClient sc_rows_;
67  ros::ServiceClient sc_cols_;
68  ros::ServiceClient sc_getLowerBound_;
69  ros::ServiceClient sc_getUpperBound_;
70  ros::ServiceClient sc_getConstraintMatrix_;
71  };
72 } // constraint
73 }//orca_ros
Definition: RosGenericConstraintProxy.h:46
virtual Eigen::VectorXd getUpperBound()
Definition: RosGenericConstraintProxy.cc:70
int cols()
Definition: RosGenericConstraintProxy.cc:50
RosGenericConstraintProxy(const std::string &robot_name, const std::string &controller_name, const std::string &constraint_name)
Definition: RosGenericConstraintProxy.cc:5
virtual void print()
Definition: RosGenericConstraintProxy.cc:24
Definition: RosCartesianAccelerationPID.h:42
virtual ~RosGenericConstraintProxy()
Definition: RosGenericConstraintProxy.cc:20
orca::math::Size getSize()
Definition: RosGenericConstraintProxy.cc:32
virtual Eigen::VectorXd getLowerBound()
Definition: RosGenericConstraintProxy.cc:59
virtual Eigen::MatrixXd getConstraintMatrix()
Definition: RosGenericConstraintProxy.cc:81
Definition: RosTaskBaseProxy.h:47
int rows()
Definition: RosGenericConstraintProxy.cc:41