collision_space_monitor.h
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef PLANNING_ENVIRONMENT_MONITORS_COLLISION_SPACE_MONITOR_ 00038 #define PLANNING_ENVIRONMENT_MONITORS_COLLISION_SPACE_MONITOR_ 00039 00040 #include <planning_environment/models/collision_models.h> 00041 #include <planning_environment/monitors/kinematic_model_state_monitor.h> 00042 #include <arm_navigation_msgs/CollisionMap.h> 00043 #include <arm_navigation_msgs/CollisionObject.h> 00044 #include <arm_navigation_msgs/AttachedCollisionObject.h> 00045 #include <boost/thread/mutex.hpp> 00046 #include <std_srvs/Empty.h> 00047 00048 namespace planning_environment 00049 { 00050 00054 class CollisionSpaceMonitor : public KinematicModelStateMonitor 00055 { 00056 public: 00057 00058 CollisionSpaceMonitor(CollisionModels *cm, tf::TransformListener *tf) : KinematicModelStateMonitor(static_cast<RobotModels*>(cm), tf) 00059 { 00060 cm_ = cm; 00061 setupCSM(); 00062 } 00063 00064 virtual ~CollisionSpaceMonitor(void) 00065 { 00066 if (collisionObjectFilter_) 00067 delete collisionObjectFilter_; 00068 if (collisionObjectSubscriber_) 00069 delete collisionObjectSubscriber_; 00070 if (collisionMapFilter_) 00071 delete collisionMapFilter_; 00072 if (collisionMapSubscriber_) 00073 delete collisionMapSubscriber_; 00074 if (collisionMapUpdateFilter_) 00075 delete collisionMapUpdateFilter_; 00076 if (collisionMapUpdateSubscriber_) 00077 delete collisionMapUpdateSubscriber_; 00078 if (attachedCollisionObjectSubscriber_) 00079 delete attachedCollisionObjectSubscriber_; 00080 00081 } 00082 00084 void startEnvironmentMonitor(void); 00085 00087 void stopEnvironmentMonitor(void); 00088 00090 bool isEnvironmentMonitorStarted(void) const 00091 { 00092 return envMonitorStarted_; 00093 } 00094 00096 const collision_space::EnvironmentModel* getEnvironmentModel(void) const 00097 { 00098 return cm_->getCollisionSpace(); 00099 } 00100 00102 CollisionModels* getCollisionModels(void) const 00103 { 00104 return cm_; 00105 } 00106 00108 bool haveMap(void) const 00109 { 00110 return have_map_; 00111 } 00112 00114 bool isMapUpdated(double sec) const; 00115 00117 void waitForMap(void) const; 00118 00120 const ros::Time& lastMapUpdate(void) const 00121 { 00122 return last_map_update_; 00123 } 00124 00126 double getPointCloudPadd(void) const 00127 { 00128 return pointcloud_padd_; 00129 } 00130 00131 void setUseCollisionMap(bool use); 00132 00133 protected: 00134 00135 void setupCSM(void); 00136 void updateCollisionSpace(const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, bool clear); 00137 void collisionMapAsSpheres(const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, 00138 std::vector<shapes::Shape*> &spheres, std::vector<btTransform> &poses); 00139 void collisionMapAsBoxes(const arm_navigation_msgs::CollisionMap &collisionMap, 00140 std::vector<shapes::Shape*> &boxes, std::vector<btTransform> &poses); 00141 void collisionMapAsBoxes(const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, 00142 std::vector<shapes::Shape*> &boxes, std::vector<btTransform> &poses); 00143 void collisionMapCallback(const arm_navigation_msgs::CollisionMapConstPtr &collisionMap); 00144 void collisionMapUpdateCallback(const arm_navigation_msgs::CollisionMapConstPtr &collisionMap); 00145 void collisionObjectCallback(const arm_navigation_msgs::CollisionObjectConstPtr &collisionObject); 00146 virtual bool attachObjectCallback(const arm_navigation_msgs::AttachedCollisionObjectConstPtr &attachedObject); 00147 00148 CollisionModels *cm_; 00149 double pointcloud_padd_; 00150 00151 bool envMonitorStarted_; 00152 00153 bool have_map_; 00154 ros::Time last_map_update_; 00155 00156 message_filters::Subscriber<arm_navigation_msgs::CollisionMap> *collisionMapSubscriber_; 00157 tf::MessageFilter<arm_navigation_msgs::CollisionMap> *collisionMapFilter_; 00158 message_filters::Subscriber<arm_navigation_msgs::CollisionMap> *collisionMapUpdateSubscriber_; 00159 tf::MessageFilter<arm_navigation_msgs::CollisionMap> *collisionMapUpdateFilter_; 00160 message_filters::Subscriber<arm_navigation_msgs::CollisionObject> *collisionObjectSubscriber_; 00161 tf::MessageFilter<arm_navigation_msgs::CollisionObject> *collisionObjectFilter_; 00162 00163 message_filters::Subscriber<arm_navigation_msgs::AttachedCollisionObject> *attachedCollisionObjectSubscriber_; 00164 00165 bool use_collision_map_; 00166 00167 boost::recursive_mutex collision_map_lock_; 00168 }; 00169 00170 00171 } 00172 00173 #endif 00174