kinematic_model_state_monitor.h

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#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 <motion_planning_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 stateMonitorStarted_;
  }     
  
  virtual void advertiseServices() {
    //kmsm doesn't have services to advertise
  }


  void setOnStateUpdateCallback(const boost::function<void(void)> &callback)
  {
    onStateUpdate_ = callback;
  }

  boost::shared_ptr<planning_models::KinematicModel> getKinematicModel(void) const
  {
    return kmodel_;
  }

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

  double getTotalVelocity(void) const
  {
    return robotVelocity_;
  }

  tf::TransformListener *getTransformListener(void) const
  {
    return tf_;
  }
        
  const std::string& getRobotFrameId(void) const
  {
    return robot_frame_;
  }

  const std::string& getWorldFrameId(void) const
  {
    return kmodel_->getRoot()->getParentFrameId();
  }

  bool haveState(void) const
  {
    return haveJointState_ && havePose_;
  }
        
  const ros::Time& lastJointStateUpdate(void) const
  {
    return lastJointStateUpdate_;
  }

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

  void setRobotStateAndComputeTransforms(const motion_planning_msgs::RobotState &robot_state,
                                         planning_models::KinematicState& state) const;

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

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

  bool convertKinematicStateToRobotState(const planning_models::KinematicState& state, 
                                         motion_planning_msgs::RobotState &robot_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 &jointState);

  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_;
      
  boost::shared_ptr<planning_models::KinematicModel> kmodel_;
  std::string                      planarJoint_;
  std::string                      floatingJoint_;

  bool                             stateMonitorStarted_;
  bool printed_out_of_date_;
        
  ros::NodeHandle                  nh_;
  ros::NodeHandle                  root_handle_;
  ros::Subscriber                  jointStateSubscriber_;
  tf::TransformListener           *tf_;

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

  boost::function<void(void)>      onStateUpdate_;

  bool                             havePose_;
  bool                             haveJointState_;
  ros::Time                        lastJointStateUpdate_;
  ros::Time                        lastPoseUpdate_;
};

}

#endif

---

planning_environment
Author(s): Ioan Sucan
autogenerated on Fri Jan 11 10:03:02 2013