omni.h

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//
// Created by qiayuan on 2022/7/29.
//
 
#pragma once
 
#include <Eigen/Dense>
 
#include "rm_chassis_controllers/chassis_base.h"
 
namespace rm_chassis_controllers
{
class OmniController : public ChassisBase<rm_control::RobotStateInterface, hardware_interface::EffortJointInterface>
{
public:
  OmniController() = default;
  bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh) override;
 
private:
  geometry_msgs::Twist odometry() override;
 
  std::vector<std::shared_ptr<effort_controllers::JointVelocityController>> joints_;
  Eigen::MatrixXd chassis2joints_;
 
protected:
  void moveJoint(const ros::Time& time, const ros::Duration& period) override;
};
 
}  // namespace rm_chassis_controllers