cart_state_estimator.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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/*
 * cart_state_estimator.h
 *
 *  Created on: Aug 6, 2010
 *      Author: jscholz
 */

#ifndef CART_STATE_ESTIMATOR_H_
#define CART_STATE_ESTIMATOR_H_

#include <manipulation_transforms/manipulation_transforms_ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf/exceptions.h>
#include <geometry_msgs/PolygonStamped.h>
#include <ros/ros.h>
#include <ros/time.h>
#include <string>
#include <boost/optional.hpp>
#include <boost/thread.hpp>
#include <boost/format.hpp>

namespace cart_state_estimator {

namespace gm=geometry_msgs;
using std::string;
using ros::WallDuration;
using ros::Duration;
using ros::WallTimerEvent;
using tf::StampedTransform;
using boost::optional;
using ros::Time;
using boost::format;

typedef tf::Stamped<tf::Pose> StampedPose;
typedef boost::mutex::scoped_lock Lock;

class CartStateEstimator {
public:

        CartStateEstimator();

private:

        void publishState(const ros::WallTimerEvent& e);
        StampedTransform computeCartFrame(const StampedPose& left,
                        const StampedPose& right) const;
        void broadcastCartPose(const string& frame, const btTransform& trans);
        btTransform cartPoseFromCheckerboard(const btTransform& cb_pose) const;
        gm::PolygonStamped getProjectedFootprint() const;

        const double cart_width_;
        const double cart_length_;
        const string l_gripper_frame_, r_gripper_frame_;
        const bool publish_fake_transforms_;
        const geometry_msgs::PolygonStamped footprint_;
        const double footprint_x_offset_, footprint_y_offset_;
        const double publication_interval_;
        const double transform_recency_threshold_;

        const btTransform cart_to_board_;

        boost::mutex mutex_;
        ros::NodeHandle nh_;
        tf::TransformListener tf_listener_;
        tf::TransformBroadcaster tf_broadcaster_;
        ros::WallTimer pub_timer_;
        ros::Publisher footprint_pub_;
        ros::ServiceClient effector_to_cart_client_;
        ros::ServiceClient set_solver_transforms_client_;
};
} // namespace cart_state_estimator

#endif /* CART_STATE_ESTIMATOR_H_ */