swerve.h

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//
// Created by qiayuan on 4/23/21.
//
 
#pragma once
 
#include "rm_chassis_controllers/chassis_base.h"
 
#include <rm_common/eigen_types.h>
#include <effort_controllers/joint_position_controller.h>
 
namespace rm_chassis_controllers
{
struct Module
{
  Vec2<double> position_;
  double pivot_offset_, wheel_radius_;
  effort_controllers::JointPositionController* ctrl_pivot_;
  effort_controllers::JointVelocityController* ctrl_wheel_;
};
 
class SwerveController : public ChassisBase<rm_control::RobotStateInterface, hardware_interface::EffortJointInterface>
{
public:
  SwerveController() = default;
  bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh) override;
 
private:
  void moveJoint(const ros::Time& time, const ros::Duration& period) override;
  geometry_msgs::Twist odometry() override;
  std::vector<Module> modules_;
};
 
}  // namespace rm_chassis_controllers