$search

descend_retreat_place.h

Go to the documentation of this file.

/*********************************************************************
*
*  Copyright (c) 2009, 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 the 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.
*********************************************************************/

#ifndef _DESCEND_RETREAT_PLACE_
#define _DESCEND_RETREAT_PLACE_

#include <ros/ros.h>

#include <tf/transform_listener.h>

#include <object_manipulation_msgs/PlaceLocationResult.h>
#include <object_manipulation_msgs/PlaceGoal.h>

#include <trajectory_msgs/JointTrajectory.h>

#include "object_manipulator/tools/grasp_marker_publisher.h"

namespace object_manipulator {

struct PlaceExecutionInfo {
  trajectory_msgs::JointTrajectory descend_trajectory_; 
  trajectory_msgs::JointTrajectory retreat_trajectory_; 
  geometry_msgs::PoseStamped gripper_place_pose_;
  object_manipulation_msgs::PlaceLocationResult result_;
  int marker_id_;
};

// ---------------------------- Definitions ---------------------------------

class PlaceTester {
protected:
  tf::TransformListener listener_;

  geometry_msgs::PoseStamped computeGripperPose(geometry_msgs::PoseStamped place_location, 
                                                geometry_msgs::Pose grasp_pose,
                                                std::string frame_id);

  virtual void testPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                         const geometry_msgs::PoseStamped &place_location,
                         PlaceExecutionInfo &execution_info) = 0;  

  GraspMarkerPublisher *marker_publisher_;

  boost::function<void(size_t)> feedback_function_;

  boost::function<bool()> interrupt_function_;

public:
  PlaceTester() : marker_publisher_(NULL) {}

  virtual void testPlaces(const object_manipulation_msgs::PlaceGoal &place_goal,
                          const std::vector<geometry_msgs::PoseStamped> &place_locations,
                          std::vector<PlaceExecutionInfo> &execution_info,
                          bool return_on_first_hit);

  void setMarkerPublisher(GraspMarkerPublisher *pub){marker_publisher_ = pub;}

  void setFeedbackFunction(boost::function<void(size_t)> f){feedback_function_ = f;}

  void setInterruptFunction(boost::function<bool()> f){interrupt_function_ = f;}

  object_manipulation_msgs::PlaceLocationResult Result(int result_code, bool continuation)
  {
    object_manipulation_msgs::PlaceLocationResult result;
    result.result_code = result_code;
    result.continuation_possible = continuation;
    return result;
  }
};

class PlacePerformer {
protected:
  virtual void performPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                            const geometry_msgs::PoseStamped &place_location,
                            PlaceExecutionInfo &execution_info) = 0;

  GraspMarkerPublisher *marker_publisher_;

  boost::function<void(size_t)> feedback_function_;

  boost::function<bool()> interrupt_function_;

public:
  PlacePerformer() : marker_publisher_(NULL) {}

  virtual void performPlaces(const object_manipulation_msgs::PlaceGoal &place_goal,
                             const std::vector<geometry_msgs::PoseStamped> &place_locations,
                             std::vector<PlaceExecutionInfo> &execution_info);

  void setMarkerPublisher(GraspMarkerPublisher *pub){marker_publisher_ = pub;}

  void setFeedbackFunction(boost::function<void(size_t)> f){feedback_function_ = f;}

  void setInterruptFunction(boost::function<bool()> f){interrupt_function_ = f;}

  object_manipulation_msgs::PlaceLocationResult Result(int result_code, bool continuation)
  {
    object_manipulation_msgs::PlaceLocationResult result;
    result.result_code = result_code;
    result.continuation_possible = continuation;
    return result;
  }
};

// ---------------------------- Testers ---------------------------------

class StandardPlaceTester : public PlaceTester
{
protected:
  virtual void testPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                         const geometry_msgs::PoseStamped &place_location,
                         PlaceExecutionInfo &execution_info);  

  static float EPS;
};

// ---------------------------- Performers ---------------------------------

class StandardPlacePerformer : public PlacePerformer
{
  object_manipulation_msgs::PlaceLocationResult
    retreat(const object_manipulation_msgs::PlaceGoal &place_goal);
  
  bool constraintsUnderstandable(const arm_navigation_msgs::Constraints &constraints);

  virtual object_manipulation_msgs::PlaceLocationResult
    placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
                  const PlaceExecutionInfo &execution_info);

  virtual void performPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                            const geometry_msgs::PoseStamped &place_location,
                            PlaceExecutionInfo &execution_info);
};


class ReactivePlacePerformer : public StandardPlacePerformer
{
protected:
  virtual object_manipulation_msgs::PlaceLocationResult 
    placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
                  const PlaceExecutionInfo &execution_info);
};


}


#endif

---

object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Fri Mar 1 18:34:34 2013