ActuatorCommand.h

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/float64.hpp>
 
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
 
#include <limits>
#include <string>
 
namespace MujocoRosUtils
{
 
class ActuatorCommand
{
public:
  static void RegisterPlugin();
 
  static ActuatorCommand * Create(const mjModel * m, mjData * d, int plugin_id);
 
public:
  ActuatorCommand(ActuatorCommand &&) = default;
 
  void reset(const mjModel * m, int plugin_id);
 
  void compute(const mjModel * m, mjData * d, int plugin_id);
 
protected:
  ActuatorCommand(const mjModel * m, mjData * d, int actuator_id, std::string topic_name);
 
  void callback(const std_msgs::msg::Float64::SharedPtr msg);
 
protected:
  int actuator_id_ = -1;
 
  mjtNum ctrl_ = std::numeric_limits<mjtNum>::quiet_NaN();
 
  rclcpp::Node::SharedPtr nh_;
  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
  rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr sub_;
};
 
} // namespace MujocoRosUtils