descend_retreat_place.h

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#ifndef _DESCEND_RETREAT_PLACE_
#define _DESCEND_RETREAT_PLACE_

#include <ros/ros.h>

#include <tf/transform_listener.h>

#include <object_manipulation_msgs/PlaceLocationResult.h>
#include <object_manipulation_msgs/PlaceGoal.h>

#include <trajectory_msgs/JointTrajectory.h>

#include "object_manipulator/tools/grasp_marker_publisher.h"

namespace object_manipulator {

struct PlaceExecutionInfo {
  trajectory_msgs::JointTrajectory descend_trajectory_; 
  trajectory_msgs::JointTrajectory retreat_trajectory_; 
  geometry_msgs::PoseStamped gripper_place_pose_;
  object_manipulation_msgs::PlaceLocationResult result_;
  int marker_id_;
};

// ---------------------------- Definitions ---------------------------------

class PlaceTester {
protected:
  tf::TransformListener listener_;

  geometry_msgs::PoseStamped computeGripperPose(geometry_msgs::PoseStamped place_location, 
                                                geometry_msgs::Pose grasp_pose,
                                                std::string frame_id);

  virtual void testPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                         const geometry_msgs::PoseStamped &place_location,
                         PlaceExecutionInfo &execution_info) = 0;  

  GraspMarkerPublisher *marker_publisher_;

  boost::function<void(size_t)> feedback_function_;

  boost::function<bool()> interrupt_function_;

public:
  PlaceTester() : marker_publisher_(NULL) {}

  virtual void testPlaces(const object_manipulation_msgs::PlaceGoal &place_goal,
                          const std::vector<geometry_msgs::PoseStamped> &place_locations,
                          std::vector<PlaceExecutionInfo> &execution_info,
                          bool return_on_first_hit);

  void setMarkerPublisher(GraspMarkerPublisher *pub){marker_publisher_ = pub;}

  void setFeedbackFunction(boost::function<void(size_t)> f){feedback_function_ = f;}

  void setInterruptFunction(boost::function<bool()> f){interrupt_function_ = f;}

  object_manipulation_msgs::PlaceLocationResult Result(int result_code, bool continuation)
  {
    object_manipulation_msgs::PlaceLocationResult result;
    result.result_code = result_code;
    result.continuation_possible = continuation;
    return result;
  }
};

class PlacePerformer {
protected:
  virtual void performPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                            const geometry_msgs::PoseStamped &place_location,
                            PlaceExecutionInfo &execution_info) = 0;

  GraspMarkerPublisher *marker_publisher_;

  boost::function<void(size_t)> feedback_function_;

  boost::function<bool()> interrupt_function_;

public:
  PlacePerformer() : marker_publisher_(NULL) {}

  virtual void performPlaces(const object_manipulation_msgs::PlaceGoal &place_goal,
                             const std::vector<geometry_msgs::PoseStamped> &place_locations,
                             std::vector<PlaceExecutionInfo> &execution_info);

  void setMarkerPublisher(GraspMarkerPublisher *pub){marker_publisher_ = pub;}

  void setFeedbackFunction(boost::function<void(size_t)> f){feedback_function_ = f;}

  void setInterruptFunction(boost::function<bool()> f){interrupt_function_ = f;}

  object_manipulation_msgs::PlaceLocationResult Result(int result_code, bool continuation)
  {
    object_manipulation_msgs::PlaceLocationResult result;
    result.result_code = result_code;
    result.continuation_possible = continuation;
    return result;
  }
};

// ---------------------------- Testers ---------------------------------

class StandardPlaceTester : public PlaceTester
{
protected:
  virtual void testPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                         const geometry_msgs::PoseStamped &place_location,
                         PlaceExecutionInfo &execution_info);  

  static float EPS;
};

// ---------------------------- Performers ---------------------------------

class StandardPlacePerformer : public PlacePerformer
{
  object_manipulation_msgs::PlaceLocationResult
    retreat(const object_manipulation_msgs::PlaceGoal &place_goal);
  
  bool constraintsUnderstandable(const arm_navigation_msgs::Constraints &constraints);

  virtual object_manipulation_msgs::PlaceLocationResult
    placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
                  const PlaceExecutionInfo &execution_info);

  virtual void performPlace(const object_manipulation_msgs::PlaceGoal &place_goal,
                            const geometry_msgs::PoseStamped &place_location,
                            PlaceExecutionInfo &execution_info);
};


class ReactivePlacePerformer : public StandardPlacePerformer
{
protected:
  virtual object_manipulation_msgs::PlaceLocationResult 
    placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
                  const PlaceExecutionInfo &execution_info);
};


}


#endif