RosJointLimitConstraint.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/constraint/JointLimitConstraint.h"
42 
43 namespace orca_ros
44 {
45 namespace constraint
46 {
47 
48 
50 {
51 public:
52  RosJointLimitConstraint(const std::string& robot_name,
53  const std::string& controller_name,
54  std::shared_ptr<orca::constraint::JointLimitConstraint> joint_con);
55  virtual ~RosJointLimitConstraint();
56 
57 private:
58 
59  bool setMinLimitService(orca_ros::SetMatrix::Request &req, orca_ros::SetMatrix::Response & res);
60  bool setMaxLimitService(orca_ros::SetMatrix::Request &req, orca_ros::SetMatrix::Response & res);
61  bool getMinLimitService(orca_ros::GetMatrix::Request &req, orca_ros::GetMatrix::Response & res);
62  bool getMaxLimitService(orca_ros::GetMatrix::Request &req, orca_ros::GetMatrix::Response & res);
63 
64 private:
65  // void publishCurrentState();
66  // void desiredStateSubscriberCb(const orca_ros::CartesianTaskState::ConstPtr& msg);
67 
68 private:
69  std::shared_ptr<orca::constraint::JointLimitConstraint> joint_con_;
70 
71  ros::ServiceServer ss_setMinLimit_;
72  ros::ServiceServer ss_setMaxLimit_;
73  ros::ServiceServer ss_getMinLimit_;
74  ros::ServiceServer ss_getMaxLimit_;
75 
76 private:
77  // ros::Publisher current_state_pub_;
78  // ros::Subscriber desired_state_sub_;
79  // orca_ros::CartesianTaskState current_state_msg_;
80 };
81 
82 } // namespace constraint
83 } // namesapce orca
RosJointLimitConstraint(const std::string &robot_name, const std::string &controller_name, std::shared_ptr< orca::constraint::JointLimitConstraint > joint_con)
Definition: RosJointLimitConstraint.cc:5
virtual ~RosJointLimitConstraint()
Definition: RosJointLimitConstraint.cc:23
Definition: RosGenericConstraint.h:48
Definition: RosCartesianAccelerationPID.h:42
Definition: RosJointLimitConstraint.h:49