ActuatorCommand.h

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#pragma once
 
#include <ros/callback_queue.h>
#include <ros/ros.h>
#include <std_msgs/Float64.h>
 
#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::Float64::ConstPtr & msg);
 
protected:
  int actuator_id_ = -1;
 
  mjtNum ctrl_ = std::numeric_limits<mjtNum>::quiet_NaN();
 
  std::shared_ptr<ros::NodeHandle> nh_;
  ros::CallbackQueue callbackQueue_;
  ros::Subscriber sub_;
};
 
} // namespace MujocoRosUtils