RosControllerProxy.h
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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)
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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.
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36 
37 #pragma once
38 
40 
41 namespace orca_ros
42 {
43 namespace optim
44 {
45 
47 {
48 public:
49  RosControllerProxy( const std::string& robot_name,
50  const std::string& controller_name);
51 
52  virtual ~RosControllerProxy();
53 
54  std::string getName();
55  void print();
56  void setPrintLevel(int level);
57  void update(double current_time, double dt);
58  bool addTask(orca_ros::TaskDescription td);
59  bool addConstraint(orca_ros::ConstraintDescription cd);
60  Eigen::VectorXd getFullSolution();
61  Eigen::VectorXd getJointTorqueCommand();
62  Eigen::VectorXd getJointAccelerationCommand();
66 
67 
68 private:
69  ros::ServiceClient sc_getName_;
70  ros::ServiceClient sc_print_;
71  ros::ServiceClient sc_setPrintLevel_;
72  ros::ServiceClient sc_update_;
73  ros::ServiceClient sc_addTask_;
74  ros::ServiceClient sc_addConstraint_;
75  ros::ServiceClient sc_getFullSolution_;
76  ros::ServiceClient sc_getJointTorqueCommand_;
77  ros::ServiceClient sc_getJointAccelerationCommand_;
78  ros::ServiceClient sc_activateTasksAndConstraints_;
79  ros::ServiceClient sc_deactivateTasksAndConstraints_;
80  ros::ServiceClient sc_tasksAndConstraintsDeactivated_;
81 };
82 
83 } // namespace optim
84 } // namespace orca
virtual ~RosControllerProxy()
Definition: RosControllerProxy.cc:23
std::string getName()
Definition: RosControllerProxy.cc:28
Definition: RosWrapperBase.h:50
Eigen::VectorXd getJointAccelerationCommand()
Definition: RosControllerProxy.cc:110
bool addTask(orca_ros::TaskDescription td)
Definition: RosControllerProxy.cc:68
bool tasksAndConstraintsDeactivated()
Definition: RosControllerProxy.cc:140
RosControllerProxy(const std::string &robot_name, const std::string &controller_name)
Definition: RosControllerProxy.cc:5
void update(double current_time, double dt)
Definition: RosControllerProxy.cc:57
void deactivateTasksAndConstraints()
Definition: RosControllerProxy.cc:131
void activateTasksAndConstraints()
Definition: RosControllerProxy.cc:122
Definition: RosCartesianAccelerationPID.h:42
Definition: RosControllerProxy.h:46
bool addConstraint(orca_ros::ConstraintDescription cd)
Definition: RosControllerProxy.cc:77
Eigen::VectorXd getFullSolution()
Definition: RosControllerProxy.cc:86
void print()
Definition: RosControllerProxy.cc:38
void setPrintLevel(int level)
Definition: RosControllerProxy.cc:47
Eigen::VectorXd getJointTorqueCommand()
Definition: RosControllerProxy.cc:98