gazebo_ros_grasp_hack.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: 3D position interface.
 * Author: Sachin Chitta and John Hsu
 * Date: 10 June 2008
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_GRASP_HACK_HH
#define GAZEBO_ROS_GRASP_HACK_HH

#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

#include <gazebo/Controller.hh>
#include <gazebo/Entity.hh>
#include <gazebo/Model.hh>
#include <gazebo/Body.hh>
#include <gazebo/Joint.hh>
#include <gazebo/Param.hh>
#include <gazebo/Time.hh>
#include <gazebo/Pose3d.hh>

#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <std_msgs/String.h>

namespace gazebo
{

   class GazeboRosGraspHack : public Controller
   {
      public: GazeboRosGraspHack(Entity *parent );

      public: virtual ~GazeboRosGraspHack();

      protected: virtual void LoadChild(XMLConfigNode *node);

      protected: virtual void InitChild();

      protected: virtual void UpdateChild();

      protected: virtual void FiniChild();

      private: Body *myParentBody;

      private: Model *myParentModel;

      private: Body* l_gripper_palm_body;
      private: Body* r_gripper_palm_body;
      private: Body* l_gripper_l_finger_tip_body;
      private: Body* l_gripper_r_finger_tip_body;
      private: Body* r_gripper_l_finger_tip_body;
      private: Body* r_gripper_r_finger_tip_body;

      private: Joint* l_gripper_l_finger_joint;
      private: Joint* l_gripper_r_finger_joint;
      private: Joint* l_gripper_l_finger_tip_joint;
      private: Joint* l_gripper_r_finger_tip_joint;

      private: Joint* r_gripper_l_finger_joint;
      private: Joint* r_gripper_r_finger_joint;
      private: Joint* r_gripper_l_finger_tip_joint;
      private: Joint* r_gripper_r_finger_tip_joint;

      private: bool l_grasp;
      private: bool r_grasp;

      private: Pose3d l_grasp_relative_pose;
      private: double l_gripper_r_finger_joint_position;
      private: double l_gripper_l_finger_joint_position;
      private: double l_gripper_r_finger_tip_joint_position;
      private: double l_gripper_l_finger_tip_joint_position;

      private: Pose3d r_grasp_relative_pose;
      private: double r_gripper_r_finger_joint_position;
      private: double r_gripper_l_finger_joint_position;
      private: double r_gripper_r_finger_tip_joint_position;
      private: double r_gripper_l_finger_tip_joint_position;

      private: ros::NodeHandle* rosnode_;
      private: ros::Publisher pub_;

      private: ParamT<std::string> *topicNameP;
      private: std::string topicName;

      private: ParamT<Vector3> *xyzOffsetsP;
      private: Vector3 xyzOffsets;
      private: ParamT<Vector3> *rpyOffsetsP;
      private: Vector3 rpyOffsets;

      private: boost::mutex lock;

      private: Time last_time;

      private: ParamT<std::string> *robotNamespaceP;
      private: std::string robotNamespace;

      private: int graspHackConnectCount;
      private: void GraspHackConnect();
      private: void GraspHackDisconnect();

      private: ros::CallbackQueue grasp_hack_queue_;
      private: void GraspHackQueueThread();
      private: boost::thread callback_queue_thread_;

   };




}

#endif