dynamics_solver.h

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/* Author: Sachin Chitta */
 
#pragma once
 
// KDL
#include <kdl/chain.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
 
#include <moveit/robot_state/robot_state.h>
#include <geometry_msgs/msg/vector3.hpp>
#include <geometry_msgs/msg/wrench.hpp>
#include <memory>
 
namespace dynamics_solver
{
MOVEIT_CLASS_FORWARD(DynamicsSolver);  // Defines DynamicsSolverPtr, ConstPtr, WeakPtr... etc
 
class DynamicsSolver
{
public:
  DynamicsSolver(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name,
                 const geometry_msgs::msg::Vector3& gravity_vector);
 
  bool getTorques(const std::vector<double>& joint_angles, const std::vector<double>& joint_velocities,
                  const std::vector<double>& joint_accelerations,
                  const std::vector<geometry_msgs::msg::Wrench>& wrenches, std::vector<double>& torques) const;
 
  bool getMaxPayload(const std::vector<double>& joint_angles, double& payload, unsigned int& joint_saturated) const;
 
  bool getPayloadTorques(const std::vector<double>& joint_angles, double payload,
                         std::vector<double>& joint_torques) const;
 
  const std::vector<double>& getMaxTorques() const;
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  const moveit::core::JointModelGroup* getGroup() const
  {
    return joint_model_group_;
  }
 
private:
  std::shared_ptr<KDL::ChainIdSolver_RNE> chain_id_solver_;  // KDL chain inverse dynamics
  KDL::Chain kdl_chain_;                                     // KDL chain
 
  moveit::core::RobotModelConstPtr robot_model_;
  const moveit::core::JointModelGroup* joint_model_group_;
 
  moveit::core::RobotStatePtr state_;  // robot state
 
  std::string base_name_, tip_name_;        // base name, tip name
  unsigned int num_joints_, num_segments_;  // number of joints in group, number of segments in group
  std::vector<double> max_torques_;         // vector of max torques
 
  double gravity_;  // Norm of the gravity vector passed in initialize()
};
}  // namespace dynamics_solver