walk_msgs: walk_msgs: abstract-node.hh Source File

00001 #ifndef WALK_MSGS_ABSTRACT_NODE_HH
00002 # define WALK_MSGS_ABSTRACT_NODE_HH
00003 # include <string>
00004 # include <vector>
00005 
00006 # include <ros/ros.h>
00007 # include <walk_interfaces/pattern-generator.hh>
00008 
00009 # include <nav_msgs/Path.h>
00010 # include <visualization_msgs/MarkerArray.h>
00011 
00012 namespace walk_msgs
00013 {
00030   template <typename T, typename U, typename S>
00031   class AbstractNode
00032   {
00033   public:
00035     typedef T patternGenerator_t;
00037     typedef U footprintRosType_t;
00038 
00040     typedef S serviceRosType_t;
00041 
00047     explicit AbstractNode (const std::string& rosNamespace,
00048                            const std::string& frameWorldId,
00049                            bool enableService = true);
00050 
00062     explicit AbstractNode (const std::string& rosNamespace,
00063                            const std::string& frameWorldId,
00064                            const patternGenerator_t& pg,
00065                            bool enableService = true);
00066 
00068     ~AbstractNode ();
00069 
00071     void spin();
00072 
00073   protected:
00083     bool getPath(typename serviceRosType_t::Request& req,
00084                  typename serviceRosType_t::Response& res);
00085 
00090     virtual void convertFootprint
00091     (typename patternGenerator_t::footprints_t& dst,
00092      const std::vector<footprintRosType_t>& src) = 0;
00093 
00105     virtual void
00106     setupPatternGenerator (typename serviceRosType_t::Request& req) = 0;
00107 
00109     patternGenerator_t& patternGenerator ()
00110     {
00111       return patternGenerator_;
00112     }
00113 
00115     void prepareTopicsData (typename serviceRosType_t::Response& res,
00116                             bool startWithLeftFoot);
00117 
00120     void writeMotionAsParameter ();
00121 
00122   private:
00124     ros::NodeHandle nodeHandle_;
00125 
00127     ros::Rate rate_;
00128 
00130     ros::ServiceServer getPathSrv_;
00131 
00135     std::string frameName_;
00136 
00138     std::string parameterName_;
00139 
00142     patternGenerator_t patternGenerator_;
00143 
00145     visualization_msgs::MarkerArray footprints_;
00146 
00148     nav_msgs::Path leftFootPath_;
00150     nav_msgs::Path rightFootPath_;
00151 
00153     nav_msgs::Path comPath_;
00155     nav_msgs::Path zmpPath_;
00156 
00158     ros::Publisher footprintsPub_;
00160     ros::Publisher leftFootPub_;
00162     ros::Publisher rightFootPub_;
00164     ros::Publisher comPub_;
00166     ros::Publisher zmpPub_;
00167 
00169     double footPrintWidth_;
00171     double footPrintHeight_;
00172   };
00173 
00174 } // end of namespace walk_msgs
00175 
00176 # include <walk_msgs/abstract-node.hxx>
00177 #endif //! WALK_MSGS_ABSTRACT_NODE_HH