skin_safe_base: skin_safe_base.h Source File

00001 /*
00002  * Copyright (c) 2010, Bosch LLC
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Bosch LLC nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 //\Author Sebastian Haug, Bosch LLC
00031 
00032 #ifndef SKINSAFEBASE_H_
00033 #define SKINSAFEBASE_H_
00034 
00035 // Ros
00036 #include <ros/ros.h>
00037 #include <std_msgs/Bool.h>
00038 #include <geometry_msgs/Twist.h>
00039 #include <safe_base_controller/TwistLimits.h>
00040 
00041 // Skin messages
00042 #include "skin_driver/skin_meas.h"
00043 
00044 
00046 
00049 class SkinSafeBase {
00050 public:
00051         SkinSafeBase();
00052         virtual ~SkinSafeBase();
00053 
00054 private:
00055         // Private functions
00056         void skinNewMeasCallback(const boost::shared_ptr<skin_driver::skin_meas const>& msg);
00057         void newBaseCommandCallback(const boost::shared_ptr<geometry_msgs::Twist const>& msg);
00058 
00059         bool checkPatchesBlocked(std::vector<int> & patches);
00060 
00061         void loadParameterDouble(ros::NodeHandle & nh_, std::string param, double & data);
00062         void loadParameterInt(ros::NodeHandle & nh_, std::string param, int & data);
00063         void loadParameterIntArray(ros::NodeHandle & nh_, std::string param, std::vector<int> & vec);
00064 
00065         // Private members
00066         ros::NodeHandle nh_;
00067         ros::NodeHandle nh_private_;
00068         ros::Subscriber sub_skin_data_;
00069         ros::Publisher pub_cmd_vel_limits_;
00070 
00071         int num_sensors_;
00072         int sensor_threshold_;
00073         double max_vel_;
00074 
00075         /* Vectors containing patch ids, f is front, b is back, r is right, l is left
00076          *    fl       fr
00077          *    -----------
00078          * lf |         | rf
00079          *    | pr2base |
00080          * lb |         | rb
00081          *    -----------
00082          *    bl       br
00083          */
00084         std::vector<int> patches_bl_, patches_br_, patches_fl_, patches_fr_, patches_rb_, patches_rf_, patches_lb_, patches_lf_;
00085 
00086         // Stores whether sensor in group is activated - True if at least on sensor activated, false if all are not activated
00087         bool blocked_bl_, blocked_br_, blocked_fl_, blocked_fr_, blocked_rb_, blocked_rf_, blocked_lb_, blocked_lf_;
00088 
00089         struct sensor_data_struct {
00090                 uint8_t id;
00091                 uint8_t stat;
00092                 uint8_t x;
00093                 uint8_t ini;
00094                 uint8_t limit;
00095                 uint8_t u1;
00096                 uint8_t u2;
00097                 uint8_t u3;
00098                 uint8_t dyn;
00099         };
00100 
00101         // Vector of sensor_data_struct to store sensor data
00102         std::vector<sensor_data_struct> sensor_data_;
00103 };
00104 
00105 #endif /* SKINSAFEBASE_H_ */