place_executor.h

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#ifndef _PLACE_EXECUTOR_H_
#define _PLACE_EXECUTOR_H_

#include <ros/ros.h>

#include <geometry_msgs/Pose.h>

#include <tf/transform_listener.h>

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

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

namespace object_manipulator {


class PlaceExecutor
{
public:
  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;
  }
protected:
  GraspMarkerPublisher *marker_publisher_;

  int marker_id_;

  trajectory_msgs::JointTrajectory place_trajectory_;

  trajectory_msgs::JointTrajectory retreat_trajectory_;

  tf::TransformListener listener_;

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

  object_manipulation_msgs::PlaceLocationResult 
    prepareInterpolatedTrajectories(const object_manipulation_msgs::PlaceGoal &place_goal,
                                    const geometry_msgs::PoseStamped &place_location);

  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 geometry_msgs::PoseStamped &place_location);

public:
  PlaceExecutor(GraspMarkerPublisher *marker_publisher) : marker_publisher_(marker_publisher), marker_id_(-1)
  {}
  
  object_manipulation_msgs::PlaceLocationResult 
    place(const object_manipulation_msgs::PlaceGoal &place_goal, 
          const geometry_msgs::PoseStamped &place_location);
};


class ReactivePlaceExecutor : public PlaceExecutor
{
protected:
  virtual object_manipulation_msgs::PlaceLocationResult 
    placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
                  const geometry_msgs::PoseStamped &place_location);
public:
  ReactivePlaceExecutor(GraspMarkerPublisher *marker_publisher) : PlaceExecutor(marker_publisher)
  {}
};

} //namespace object_manipulator

#endif