move_arm_setup.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 00035 * 00036 * \author Sachin Chitta, Ioan Sucan 00037 *********************************************************************/ 00038 00039 #ifndef MOVE_ARM_MOVE_ARM_SETUP_ 00040 #define MOVE_ARM_MOVE_ARM_SETUP_ 00041 00042 #include <ros/ros.h> 00043 00044 #include <arm_control_msgs/TrajectoryStart.h> 00045 #include <arm_control_msgs/TrajectoryQuery.h> 00046 #include <arm_control_msgs/TrajectoryCancel.h> 00047 00048 #include <planning_environment/monitors/planning_monitor.h> 00049 00050 namespace move_arm 00051 { 00052 00054 static const std::string CONTROL_START_NAME = "controller_start"; 00055 00057 static const std::string CONTROL_QUERY_NAME = "controller_query"; 00058 00060 static const std::string CONTROL_CANCEL_NAME = "controller_cancel"; 00061 00063 static const std::string SEARCH_VALID_STATE_NAME = "get_valid_state"; 00064 00066 static const std::string ARM_IK_NAME = "arm_ik"; 00067 00068 00070 class MoveArmSetup 00071 { 00072 friend class MoveArm; 00073 friend class MoveArmMonitor; 00074 friend class TeleopArm; 00075 00076 public: 00077 00078 MoveArmSetup(void): nodeHandle_("~") 00079 { 00080 collision_models_ = NULL; 00081 planning_monitor_ = NULL; 00082 } 00083 00084 virtual ~MoveArmSetup(void) 00085 { 00086 if (planning_monitor_) 00087 delete planning_monitor_; 00088 if (collision_models_) 00089 delete collision_models_; 00090 } 00091 00092 00093 bool configure(void); 00094 00095 protected: 00096 00097 bool getControlJointNames(std::vector<std::string> &joint_names); 00098 00099 ros::NodeHandle nodeHandle_, root_handle_; 00100 tf::TransformListener tf_; 00101 planning_environment::CollisionModels *collision_models_; 00102 planning_environment::PlanningMonitor *planning_monitor_; 00103 00104 std::string group_; 00105 std::vector<std::string> groupJointNames_; 00106 00107 private: 00108 bool use_collision_map_; 00109 00110 }; 00111 00112 } 00113 00114 #endif