motion_adaption.h

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/*
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#include <LinearMath/btVector3.h>
#include <geometry_msgs/PoseStamped.h>
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

class MotionAdaption
{
  public:
    MotionAdaption();
    ~MotionAdaption();

    void adapt();

  private:
    //internal tf library
    tf::Transformer internal_tf;
    ros::Time calc_time;

    bool getTransforms();

    bool setRefFrame();

    bool adaptTransforms();

    bool adaptTorso();

    bool adaptHead();

    bool scaleUserHandsAndElbows();

    bool adaptShoulders();

    bool adaptElbows();

    bool adaptHands();

    void setGoals();

    void publishData();

    ros::NodeHandle nh_, nh_private_;

    // listens to the transforms from the openni_tracker
    tf::TransformListener tf_listener_;

    // publishes transforms for internal calculations, visualization and the final results
    tf::TransformBroadcaster tf_broadcaster_;

    // time to wait for tf transforms in seconds
    double wait_for_tf_;

    // publishers and message for sending the pose commands for each endpoint
    ros::Publisher pub_torso_pose_;
    ros::Publisher pub_head_pose_;
    ros::Publisher pub_r_elbow_pose_;
    ros::Publisher pub_r_hand_pose_;
    ros::Publisher pub_l_elbow_pose_;
    ros::Publisher pub_l_hand_pose_;
    geometry_msgs::PoseStamped pose_;

    // strings for configuring the motion adaption process
    std::string world_ref_frame_str_;
    std::string user_torso_str_;
    std::string user_head_str_;
    std::string user_r_shoulder_str_;
    std::string user_r_elbow_str_;
    std::string user_r_hand_str_;
    std::string user_l_shoulder_str_;
    std::string user_l_elbow_str_;
    std::string user_l_hand_str_;
    std::string robot_base_str_;
    std::string robot_ref_torso_str_;
    std::string robot_torso_str_;
    std::string robot_head_str_;
    std::string robot_r_shoulder_str_;
    std::string robot_r_elbow_str_;
    std::string robot_r_hand_str_;
    std::string robot_l_shoulder_str_;
    std::string robot_l_elbow_str_;
    std::string robot_l_hand_str_;

    // vectors for defining rotations of orientations
    btVector3 ref_frame_rot_vec_;
    btVector3 torso_goal_rot_vec_;
    btVector3 head_goal_rot_vec_;
    btVector3 r_elbow_goal_rot_vec_;
    btVector3 r_hand_goal_rot_vec_;
    btVector3 l_elbow_goal_rot_vec_;
    btVector3 l_hand_goal_rot_vec_;

    tf::StampedTransform tf_usr_torso_;
    tf::StampedTransform tf_usr_head_;
    tf::StampedTransform tf_usr_r_shoulder_;
    tf::StampedTransform tf_usr_r_shoulder_elbow_;
    tf::StampedTransform tf_usr_r_shoulder_hand_;
    tf::StampedTransform tf_usr_r_elbow_;
    tf::StampedTransform tf_usr_r_elbow_hand_;
    tf::StampedTransform tf_usr_r_hand_;
    tf::StampedTransform tf_usr_l_shoulder_;
    tf::StampedTransform tf_usr_l_shoulder_elbow_;
    tf::StampedTransform tf_usr_l_shoulder_hand_;
    tf::StampedTransform tf_usr_l_elbow_;
    tf::StampedTransform tf_usr_l_elbow_hand_;
    tf::StampedTransform tf_usr_l_hand_;
    tf::StampedTransform tf_robot_ref_torso_;
    tf::StampedTransform tf_robot_torso_torso_;
    tf::StampedTransform tf_robot_torso_head_;
    tf::StampedTransform tf_robot_torso_r_shoulder_;
    tf::StampedTransform tf_robot_torso_l_shoulder_;
    tf::StampedTransform tf_robot_r_shoulder_l_shoulder_;
    tf::StampedTransform tf_robot_r_shoulder_r_elbow_;
    tf::StampedTransform tf_robot_r_elbow_r_hand_;

    tf::StampedTransform tf_ref_frame_;
    tf::StampedTransform tf_torso_aligned_;
    tf::StampedTransform tf_torso_goal_;
    tf::StampedTransform tf_head_goal_;
    tf::StampedTransform tf_r_shoulder_scaled_;
    tf::StampedTransform tf_r_shoulder_goal_;
    tf::StampedTransform tf_r_shoulder_elbow_;
    tf::StampedTransform tf_r_shoulder_hand_;
    tf::StampedTransform tf_r_elbow_scaled_;
    tf::StampedTransform tf_r_elbow_pos_;
    tf::StampedTransform tf_r_elbow_orient_;
    tf::StampedTransform tf_r_elbow_hand_;
    tf::StampedTransform tf_r_elbow_goal_;
    tf::StampedTransform tf_r_hand_scaled_;
    tf::StampedTransform tf_r_hand_adjusted_;
    tf::StampedTransform tf_r_hand_goal_;
    tf::StampedTransform tf_l_shoulder_scaled_;
    tf::StampedTransform tf_l_shoulder_goal_;
    tf::StampedTransform tf_l_shoulder_elbow_;
    tf::StampedTransform tf_l_shoulder_hand_;
    tf::StampedTransform tf_l_elbow_scaled_;
    tf::StampedTransform tf_l_elbow_pos_;
    tf::StampedTransform tf_l_elbow_orient_;
    tf::StampedTransform tf_l_elbow_hand_;
    tf::StampedTransform tf_l_elbow_goal_;
    tf::StampedTransform tf_l_hand_scaled_;
    tf::StampedTransform tf_l_hand_goal_;

    tf::Quaternion quat_, quat_adjust_;

    double robot_shoulder_heigth_, robot_shoulder_width_, robot_head_height_, robot_shoulder_x_offset_;
    double robot_upper_arm_length_, robot_lower_arm_length_, robot_arm_length_;
    double user_shoulder_width_, user_shoulder_height_, user_upper_arm_length_, user_arm_length_;
    double x_norm_, y_norm_, z_norm_, x_adapt_, y_adapt_, z_adapt_, elbow_x_, elbow_y_, limb_length_;

    btVector3 vec_shoulder_elbow_, vec_shoulder_hand_, vec_elbow_hand_, vec_normal_, vec_helper_;
    btVector3 vec_r_shoulder_elbow_valid_, vec_l_shoulder_elbow_valid_;
    btVector3 vec_r_elbow_hand_valid_, vec_l_elbow_hand_valid_;
    bool r_elbow_extended_, l_elbow_extended_;
    btMatrix3x3 mat_orientation_;
};