interactive_manipulation_backend.h

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/*
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#ifndef INTERACTIVE_MANIPULATION_BACKEND
#define INTERACTIVE_MANIPULATION_BACKEND

#include <ros/ros.h>

#include <actionlib/server/simple_action_server.h>

#include <object_manipulator/tools/mechanism_interface.h>

#include <tabletop_collision_map_processing/collision_map_interface.h>

#include <object_manipulation_msgs/PickupAction.h>
#include <object_manipulation_msgs/PlaceAction.h>

#include <pr2_interactive_object_detection/GraspableObjectList.h>

#include <pr2_create_object_model/ModelObjectInHandAction.h>
#include <pr2_create_object_model/ObjectInHand.h>

#include "pr2_interactive_manipulation/gripper_controller.h"

#include "pr2_interactive_manipulation/IMGUIOptions.h"
#include "pr2_interactive_manipulation/IMGUIAdvancedOptions.h"
#include "pr2_interactive_manipulation/IMGUICommand.h"
#include "pr2_interactive_manipulation/IMGUIAction.h"

#include <sensor_msgs/PointCloud2.h>

namespace pr2_interactive_manipulation {

class InteractiveManipulationBackend
{

public:
  InteractiveManipulationBackend();
  ~InteractiveManipulationBackend();

private:
  struct GraspInfo
  {
    static geometry_msgs::Pose verticalGripper()
    {
      geometry_msgs::Pose pose;
      pose.position.x = 0;
      pose.position.y = 0;
      pose.position.z = 0.2;
      pose.orientation.x = 0;
      pose.orientation.y = sqrt(0.5);
      pose.orientation.z = 0;
      pose.orientation.w = sqrt(0.5);
      return pose;
    }
    static geometry_msgs::Pose identityPose()
    {
      geometry_msgs::Pose pose;
      pose.position.x = pose.position.y = pose.position.z = 0.0;
      pose.orientation = identityQuaternion();
      return pose;
    }
    static geometry_msgs::Quaternion identityQuaternion()
    {
      geometry_msgs::Quaternion q;
      q.x = q.y = q.z = 0.0;
      q.w = 1.0;
      return q;
    }

    GraspInfo()
    {
      grasp_.grasp_pose = verticalGripper();
      object_.reference_frame_id = "base_link";
      object_orientation_ = identityQuaternion();
    }
    std::string object_collision_name_;
    object_manipulation_msgs::GraspableObject object_;
    object_manipulation_msgs::Grasp grasp_;
    geometry_msgs::Quaternion object_orientation_;
  };

  GraspInfo* getGraspInfo(std::string arm_name)
  {
    if (arm_name=="right_arm") return &grasp_info_right_;
    return &grasp_info_left_;
  }

  void graspableObjectsCallback(const pr2_interactive_object_detection::GraspableObjectListConstPtr &objects);

  bool interruptRequested();

  void setStatusLabel(std::string text);

  bool processCollisionMapForPickup(const IMGUIOptions &options, object_manipulation_msgs::PickupGoal &goal);

  //pick up (grasp) an object.
  //if the object parameter is omitted, will call Gripper Click Pickup
  //otherwise will try to pick up the given object autonomously
  int pickupObject(const IMGUIOptions &options, 
                   object_manipulation_msgs::GraspableObject object = object_manipulation_msgs::GraspableObject() );

  int placeObject(const IMGUIOptions &options);

  void takeMap();

  void collisionReset(int reset_choice);

  void lookAtTable();

  void armMotion(int arm_selection_choice, int arm_action_choice, 
                 int arm_planner_choice, bool collision, object_manipulation_msgs::ManipulationResult &result);

  void moveGripper(IMGUIOptions options);

  int modelObject(IMGUIOptions options);

  void actionCallback(const IMGUIGoalConstPtr &goal);

  int callGripperClickPickup( std::string arm_name, std::vector<object_manipulation_msgs::Grasp> &grasps );

  ros::ServiceClient grasp_planning_srv_;
  ros::ServiceClient place_planning_srv_;
  ros::ServiceClient get_model_description_srv_;
  ros::Subscriber graspable_objects_sub_;
  actionlib::SimpleActionServer<IMGUIAction> *action_server_;

  ros::NodeHandle root_nh_;

  ros::NodeHandle priv_nh_;

  GripperController gripper_controller_;

  std::string grasp_planning_service_name_;
  std::string place_planning_service_name_;
  std::string pickup_action_name_;
  std::string place_action_name_;
  std::string create_model_action_name_;
  std::string action_name_;
  
  tabletop_collision_map_processing::CollisionMapInterface collision_map_interface_;

  object_manipulator::MechanismInterface mech_interface_;

  actionlib::SimpleActionClient<object_manipulation_msgs::PickupAction> *pickup_client_;
  actionlib::SimpleActionClient<object_manipulation_msgs::PlaceAction> *place_client_;

  actionlib::SimpleActionClient<pr2_create_object_model::ModelObjectInHandAction> *create_model_client_;

  std::vector<object_manipulation_msgs::GraspableObject> graspable_objects_;

  pr2_interactive_object_detection::GraspableObjectListConstPtr received_objects_;
  boost::mutex received_objects_mutex_;

  bool new_object_list_;

//  std::map< std::String, GraspInfo > pickup_grasp_info_;

  GraspInfo grasp_info_right_;
  GraspInfo grasp_info_left_;

  sensor_msgs::PointCloud2 object_model_left_;
  sensor_msgs::PointCloud2 object_model_right_;
};

}

#endif

---

pr2_interactive_manipulation
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:11:03 2013