place_executor.h
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00033 
00034 #ifndef _PLACE_EXECUTOR_H_
00035 #define _PLACE_EXECUTOR_H_
00036 
00037 #include <ros/ros.h>
00038 
00039 #include <geometry_msgs/Pose.h>
00040 
00041 #include <tf/transform_listener.h>
00042 
00043 #include <object_manipulation_msgs/PlaceGoal.h>
00044 #include <object_manipulation_msgs/PlaceLocationResult.h>
00045 
00046 #include "object_manipulator/tools/mechanism_interface.h"
00047 #include "object_manipulator/tools/grasp_marker_publisher.h"
00048 
00049 namespace object_manipulator {
00050 
00052 
00060 class PlaceExecutor
00061 {
00062 public:
00063   object_manipulation_msgs::PlaceLocationResult Result(int result_code, bool continuation)
00064   {
00065     object_manipulation_msgs::PlaceLocationResult result;
00066     result.result_code = result_code;
00067     result.continuation_possible = continuation;
00068     return result;
00069   }
00070 protected:
00072   GraspMarkerPublisher *marker_publisher_;
00073 
00075   int marker_id_;
00076 
00078   trajectory_msgs::JointTrajectory place_trajectory_;
00079 
00081   trajectory_msgs::JointTrajectory retreat_trajectory_;
00082 
00084   tf::TransformListener listener_;
00085 
00087   geometry_msgs::PoseStamped computeGripperPose(geometry_msgs::PoseStamped place_location,
00088                                                 geometry_msgs::Pose grasp_pose,
00089                                                 std::string frame_id);
00090 
00092   object_manipulation_msgs::PlaceLocationResult
00093     prepareInterpolatedTrajectories(const object_manipulation_msgs::PlaceGoal &place_goal,
00094                                     const geometry_msgs::PoseStamped &place_location);
00095 
00097   object_manipulation_msgs::PlaceLocationResult
00098     retreat(const object_manipulation_msgs::PlaceGoal &place_goal);
00099 
00101   bool constraintsUnderstandable(const motion_planning_msgs::Constraints &constraints);
00102 
00104   virtual object_manipulation_msgs::PlaceLocationResult
00105     placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
00106                   const geometry_msgs::PoseStamped &place_location);
00107 
00108 public:
00109   PlaceExecutor(GraspMarkerPublisher *marker_publisher) : marker_publisher_(marker_publisher), marker_id_(-1)
00110   {}
00111 
00113   object_manipulation_msgs::PlaceLocationResult
00114     place(const object_manipulation_msgs::PlaceGoal &place_goal,
00115           const geometry_msgs::PoseStamped &place_location);
00116 };
00117 
00119 
00122 class ReactivePlaceExecutor : public PlaceExecutor
00123 {
00124 protected:
00126   virtual object_manipulation_msgs::PlaceLocationResult
00127     placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
00128                   const geometry_msgs::PoseStamped &place_location);
00129 public:
00131   ReactivePlaceExecutor(GraspMarkerPublisher *marker_publisher) : PlaceExecutor(marker_publisher)
00132   {}
00133 };
00134 
00135 } //namespace object_manipulator
00136 
00137 #endif
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katana_object_manipulator
Author(s): Henning Deeken
autogenerated on Thu Jan 3 2013 14:44:43