align_base.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 00035 /* Author: Wim Meeusen */ 00036 00037 #ifndef ALIGN_BASE_H 00038 #define ALIGN_BASE_H 00039 00040 #include <ros/ros.h> 00041 #include <tf/tf.h> 00042 #include <tf/transform_listener.h> 00043 #include <kdl/frames.hpp> 00044 #include <actionlib/server/simple_action_server.h> 00045 #include <actionlib/client/simple_action_client.h> 00046 #include <geometry_msgs/Point.h> 00047 #include <pr2_plugs_msgs/AlignBaseAction.h> 00048 #include <pr2_plugs_msgs/DetectWallNormAction.h> 00049 #include <move_base_msgs/MoveBaseAction.h> 00050 00051 00052 namespace pr2_plugs_actions{ 00053 00054 00055 class AlignBaseAction 00056 { 00057 public: 00058 AlignBaseAction(); 00059 ~AlignBaseAction(); 00060 00061 void execute(const pr2_plugs_msgs::AlignBaseGoalConstPtr& goal); 00062 00063 private: 00064 geometry_msgs::Point toPoint(const tf::Vector3& pnt); 00065 geometry_msgs::Vector3 toVector(const tf::Vector3& pnt); 00066 tf::Vector3 fromVector(const geometry_msgs::Vector3& pnt); 00067 tf::Vector3 fromPoint(const geometry_msgs::Point& pnt); 00068 double getVectorAngle(const tf::Vector3& v1, const tf::Vector3& v2); 00069 00070 actionlib::SimpleActionClient<pr2_plugs_msgs::DetectWallNormAction> wall_detector_; 00071 actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_omnidirectional_; 00072 tf::TransformListener tf_; 00073 00074 actionlib::SimpleActionServer<pr2_plugs_msgs::AlignBaseAction> action_server_; 00075 }; 00076 00077 } 00078 00079 #endif