semantic_world.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Sachin Chitta */
 
#pragma once
 
#include <ros/ros.h>
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene/planning_scene.h>
#include <object_recognition_msgs/TableArray.h>
#include <moveit_msgs/CollisionObject.h>
#include <boost/thread/mutex.hpp>
#include <moveit/macros/class_forward.h>
 
namespace shapes
{
MOVEIT_CLASS_FORWARD(Shape);  // Defines ShapePtr, ConstPtr, WeakPtr... etc
}
 
namespace moveit
{
namespace semantic_world
{
MOVEIT_CLASS_FORWARD(SemanticWorld);  // Defines SemanticWorldPtr, ConstPtr, WeakPtr... etc
 
class SemanticWorld
{
public:
  typedef boost::function<void()> TableCallbackFn;
 
  SemanticWorld(const planning_scene::PlanningSceneConstPtr& planning_scene);
 
  object_recognition_msgs::TableArray getTablesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                     double maxz) const;
 
  std::vector<std::string> getTableNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                              double maxz) const;
 
  std::vector<geometry_msgs::PoseStamped> generatePlacePoses(const std::string& table_name,
                                                             const shapes::ShapeConstPtr& object_shape,
                                                             const geometry_msgs::Quaternion& object_orientation,
                                                             double resolution, double delta_height = 0.01,
                                                             unsigned int num_heights = 2) const;
 
  std::vector<geometry_msgs::PoseStamped> generatePlacePoses(const object_recognition_msgs::Table& table,
                                                             const shapes::ShapeConstPtr& object_shape,
                                                             const geometry_msgs::Quaternion& object_orientation,
                                                             double resolution, double delta_height = 0.01,
                                                             unsigned int num_heights = 2) const;
  std::vector<geometry_msgs::PoseStamped> generatePlacePoses(const object_recognition_msgs::Table& table,
                                                             double resolution, double height_above_table,
                                                             double delta_height = 0.01, unsigned int num_heights = 2,
                                                             double min_distance_from_edge = 0.10) const;
 
  void clear();
 
  bool addTablesToCollisionWorld();
 
  visualization_msgs::MarkerArray getPlaceLocationsMarker(const std::vector<geometry_msgs::PoseStamped>& poses) const;
 
  void addTableCallback(const TableCallbackFn& table_callback)
  {
    table_callback_ = table_callback;
  }
 
  std::string findObjectTable(const geometry_msgs::Pose& pose, double min_distance_from_edge = 0.0,
                              double min_vertical_offset = 0.0) const;
 
  bool isInsideTableContour(const geometry_msgs::Pose& pose, const object_recognition_msgs::Table& table,
                            double min_distance_from_edge = 0.0, double min_vertical_offset = 0.0) const;
 
private:
  shapes::Mesh* createSolidMeshFromPlanarPolygon(const shapes::Mesh& polygon, double thickness) const;
 
  shapes::Mesh* orientPlanarPolygon(const shapes::Mesh& polygon) const;
 
  void tableCallback(const object_recognition_msgs::TableArrayPtr& msg);
 
  void transformTableArray(object_recognition_msgs::TableArray& table_array) const;
 
  planning_scene::PlanningSceneConstPtr planning_scene_;
 
  ros::NodeHandle node_handle_;
 
  object_recognition_msgs::TableArray table_array_;
 
  std::vector<geometry_msgs::PoseStamped> place_poses_;
 
  std::map<std::string, object_recognition_msgs::Table> current_tables_in_collision_world_;
 
  //  boost::mutex table_lock_;
 
  ros::Subscriber table_subscriber_;
 
  ros::Publisher visualization_publisher_, collision_object_publisher_;
 
  TableCallbackFn table_callback_;
 
  ros::Publisher planning_scene_diff_publisher_;
};
}  // namespace semantic_world
}  // namespace moveit