object_manipulator.h

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// Author(s): Matei Ciocarlie

#include <ros/ros.h>

#include <boost/thread/mutex.hpp>

#include <actionlib/server/simple_action_server.h>

#include <object_manipulation_msgs/PickupAction.h>
#include <object_manipulation_msgs/PlaceAction.h>
#include <object_manipulation_msgs/GraspPlanningAction.h>

#include "object_manipulator/tools/service_action_wrappers.h"
#include "object_manipulator/tools/mechanism_interface.h"

namespace object_manipulator{

class PlaceExecutor;
class ReactivePlaceExecutor;
class ReactiveGraspExecutor;
class GraspExecutorWithApproach;
class UnsafeGraspExecutor;
class GraspMarkerPublisher;

class GraspTesterFast;

class GraspTester;
class GraspPerformer;
class PlaceTester;
class PlacePerformer;

class GraspContainer
{
private:
  std::vector<object_manipulation_msgs::Grasp> grasps_;
  boost::mutex mutex_;

public:
  size_t size() 
  {
    boost::mutex::scoped_lock lock(mutex_);
    return grasps_.size();
  }

  std::vector<object_manipulation_msgs::Grasp> getGrasps(size_t start) 
  {
    boost::mutex::scoped_lock lock(mutex_);
    std::vector<object_manipulation_msgs::Grasp> ret_grasps;
    if (start >= grasps_.size()) return ret_grasps;
    std::vector<object_manipulation_msgs::Grasp>::iterator it = grasps_.begin();
    for(size_t i=0; i<start; i++) it++;
    ret_grasps.insert(ret_grasps.begin(), it, grasps_.end());
    return ret_grasps;
  }

  void addGrasps(const std::vector<object_manipulation_msgs::Grasp> &new_grasps)
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (new_grasps.size() <= grasps_.size())
    {
      ROS_WARN("No new grasps to add to container");
    }
    std::vector<object_manipulation_msgs::Grasp>::const_iterator it = new_grasps.begin();
    for (size_t i=0; i<grasps_.size(); i++) it++;
    grasps_.insert(grasps_.end(), it, new_grasps.end());
  }

  void clear()
  {
    boost::mutex::scoped_lock lock(mutex_);
    grasps_.clear();
  }

  void popFrontGrasps(size_t n)
  {
    if (n==0) return;
    boost::mutex::scoped_lock lock(mutex_);
    if (n>grasps_.size())
    {
      ROS_WARN("Grasp container requested to pop more grasps than it has");
      grasps_.clear();
      return;
    }
    std::vector<object_manipulation_msgs::Grasp>::iterator it = grasps_.begin();
    for(size_t i=0; i<n; i++) it++;
    grasps_.erase(grasps_.begin(), it);
  }
};


class ObjectManipulator
{
private:
  ros::NodeHandle priv_nh_;

  ros::NodeHandle root_nh_;


  MultiArmActionWrapper<object_manipulation_msgs::GraspPlanningAction> grasp_planning_actions_;

  GraspMarkerPublisher *marker_pub_;

  bool randomize_grasps_;

  std::string kinematics_plugin_name_;

  GraspTester* grasp_tester_with_approach_;
  GraspTester* unsafe_grasp_tester_;
  GraspTesterFast* grasp_tester_fast_;
  GraspPerformer* standard_grasp_performer_;
  GraspPerformer* reactive_grasp_performer_;
  GraspPerformer* unsafe_grasp_performer_;
  PlaceTester* standard_place_tester_;
  PlacePerformer* standard_place_performer_;
  PlacePerformer* reactive_place_performer_;

  GraspExecutorWithApproach* grasp_executor_with_approach_;

  ReactiveGraspExecutor* reactive_grasp_executor_;

  UnsafeGraspExecutor* unsafe_grasp_executor_;

  PlaceExecutor* place_executor_;

  ReactivePlaceExecutor* reactive_place_executor_;

  std::string default_database_planner_;

  std::string default_cluster_planner_;

  std::string default_probabilistic_planner_;
  bool use_probabilistic_planner_;

  GraspContainer grasp_container_;

public:
  ObjectManipulator();

  ~ObjectManipulator();

  void pickup(const object_manipulation_msgs::PickupGoal::ConstPtr &pickup_goal,
              actionlib::SimpleActionServer<object_manipulation_msgs::PickupAction> *action_server);

  void place(const object_manipulation_msgs::PlaceGoal::ConstPtr &place_goal,
             actionlib::SimpleActionServer<object_manipulation_msgs::PlaceAction> *action_server);

  void graspFeedback(actionlib::SimpleActionServer<object_manipulation_msgs::PickupAction> *action_server,
                     size_t tested_grasps, size_t current_grasp);

  void placeFeedback(actionlib::SimpleActionServer<object_manipulation_msgs::PlaceAction> *action_server,
                     size_t tested_places, size_t total_places, size_t current_place);

  void graspPlanningFeedbackCallback(const object_manipulation_msgs::GraspPlanningFeedbackConstPtr &feedback);

  void graspPlanningDoneCallback(const actionlib::SimpleClientGoalState& state,
                                 const object_manipulation_msgs::GraspPlanningResultConstPtr &result);

};

} //namespace grasping_app_executive