$search

kinematic_model_state_monitor.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, 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 PLANNING_ENVIRONMENT_MONITORS_KINEMATIC_MODEL_STATE_MONITOR_
#define PLANNING_ENVIRONMENT_MONITORS_KINEMATIC_MODEL_STATE_MONITOR_

#include "planning_environment/models/robot_models.h"
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <sensor_msgs/JointState.h>
#include <arm_navigation_msgs/RobotState.h>
#include <boost/bind.hpp>
#include <vector>
#include <string>
#include <map>
#include <planning_models/kinematic_state.h>

namespace planning_environment
{

class KinematicModelStateMonitor
{
public:

  KinematicModelStateMonitor(RobotModels *rm, tf::TransformListener *tf) : nh_("~")
  {
    rm_ = rm;
    tf_ = tf;
    setupRSM();
  }

  virtual ~KinematicModelStateMonitor(void)
  {
  }

  void startStateMonitor(void);
        
  void stopStateMonitor(void);
        
  bool isStateMonitorStarted(void) const
  {
    return state_monitor_started_;
  }     
  
  void addOnStateUpdateCallback(const boost::function<void(const sensor_msgs::JointStateConstPtr &joint_state)> &callback) {
    on_state_update_callback_ = callback;
  }

  const planning_models::KinematicModel* getKinematicModel(void) const
  {
    return kmodel_;
  }

  RobotModels* getRobotModels(void) const
  {
    return rm_;
  }

  tf::TransformListener *getTransformListener(void) const
  {
    return tf_;
  }
        
  bool haveState(void) const
  {
    return have_joint_state_ && have_pose_;
  }
        
  const ros::Time& lastJointStateUpdate(void) const
  {
    return last_joint_state_update_;
  }

  const ros::Time& lastPoseUpdate(void) const
  {
    return last_pose_update_;
  }
        
  void waitForState(void) const;

  bool isJointStateUpdated(double sec) const;

  bool isPoseUpdated(double sec) const;
        
  void printRobotState(void) const;
  
  void setStateValuesFromCurrentValues(planning_models::KinematicState& state) const;

  bool getCurrentRobotState(arm_navigation_msgs::RobotState &robot_state) const;

  bool setKinematicStateToTime(const ros::Time& time,
                               planning_models::KinematicState& state) const;

  bool getCachedJointStateValues(const ros::Time& time, std::map<std::string, double>& ret_map) const;

  bool allJointsUpdated(ros::Duration dur = ros::Duration()) const;

  //need to pass by value for thread safety
  std::map<std::string, double> getCurrentJointStateValues() const {
    current_joint_values_lock_.lock();
    std::map<std::string, double> ret_values = current_joint_state_map_;
    current_joint_values_lock_.unlock();
    return ret_values;
  }

protected:

  void setupRSM(void);
  void jointStateCallback(const sensor_msgs::JointStateConstPtr &joint_state);

  std::list<std::pair<ros::Time, std::map<std::string, double> > >joint_state_map_cache_;

  std::map<std::string, ros::Time> last_joint_update_;
  std::map<std::string, double> current_joint_state_map_;

  mutable boost::recursive_mutex current_joint_values_lock_;

  double joint_state_cache_time_;
  double joint_state_cache_allowed_difference_;

  RobotModels *rm_;
      
  const planning_models::KinematicModel* kmodel_;

  bool state_monitor_started_;
  bool printed_out_of_date_;
        
  ros::NodeHandle nh_;
  ros::NodeHandle root_handle_;
  ros::Subscriber joint_state_subscriber_;
  tf::TransformListener *tf_;

  tf::Pose pose_;
  std::string robot_frame_;

  boost::function<void(const sensor_msgs::JointStateConstPtr &joint_state)> on_state_update_callback_;

  bool have_pose_;
  bool have_joint_state_;
  ros::Time last_joint_state_update_;
  ros::Time last_pose_update_;
};

}

#endif

---

planning_environment
Author(s): Ioan Sucan
autogenerated on Fri Mar 1 14:16:58 2013