wam_arm_navigation_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _wam_arm_navigation_alg_h_
#define _wam_arm_navigation_alg_h_

#include <iri_wam_arm_navigation/WamArmNavigationConfig.h>
#include <geometry_msgs/PoseStamped.h>
#include <arm_navigation_msgs/SimplePoseConstraint.h>
#include <arm_navigation_msgs/PositionConstraint.h>
#include <arm_navigation_msgs/OrientationConstraint.h>
#include <arm_navigation_msgs/convert_messages.h>
#include <arm_navigation_msgs/MoveArmAction.h>
#include "mutex.h"

//include wam_arm_navigation_alg main library

class WamArmNavigationAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef iri_wam_arm_navigation::WamArmNavigationConfig Config;

    Config config_;

    WamArmNavigationAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all wam_arm_navigation_alg interface methods to retrieve and set
    // the driver parameters

    ~WamArmNavigationAlgorithm(void);
    
    geometry_msgs::PoseStamped pose_goal;
    std::string frame_id_target;
    bool has_pose;
    void setTarget(const geometry_msgs::PoseStamped& pose,const std::string& nameFrame);
    bool hasPose();
    void setPlannerRequestPose(arm_navigation_msgs::MoveArmGoal& goal);
    void setPlannerRequest(arm_navigation_msgs::MoveArmGoal& goal);
    void addGoalConstraintToMoveArmGoal(const arm_navigation_msgs::SimplePoseConstraint &pose_constraint, arm_navigation_msgs::MoveArmGoal &move_arm_goal);
    void sendedPose();
     
};

#endif