joint_trajectory_handler.h

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#ifndef JOINT_TRAJECTORY_HANDLER_H
#define JOINT_TRAJECTORY_HANDLER_H

#include "simple_message/smpl_msg_connection.h"
#include "ros/ros.h"
#include <boost/thread/thread.hpp>
#include <sensor_msgs/JointState.h>
#include <trajectory_msgs/JointTrajectory.h>

namespace motoman
{
namespace joint_trajectory_handler
{

namespace JointTrajectoryStates
{
enum JointTrajectoryState
{
  IDLE = 0, STREAMING =1 //,STARTING, //, STOPPING
};
}
typedef JointTrajectoryStates::JointTrajectoryState JointTrajectoryState;

//* JointTrajectoryHandler
class JointTrajectoryHandler
{

public:

  JointTrajectoryHandler();

  JointTrajectoryHandler(ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection* robotConnecton);

  ~JointTrajectoryHandler();

  void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
  void trajectoryHandler();

  unsigned int getNextTrajectoryPoint(const trajectory_msgs::JointTrajectory& traj,
                                      const ros::Time& start,
                                      const ros::Time& cur);

private:

  void trajectoryStop();

  industrial::smpl_msg_connection::SmplMsgConnection* robot_;
  ros::Subscriber sub_joint_tranectory_; //subscribe to "command"
  ros::NodeHandle node_;

  boost::thread* trajectoryHandler_;
  boost::mutex mutex_;int currentPoint;
  trajectory_msgs::JointTrajectory current_traj_;
  JointTrajectoryState state_;
  ros::Time streaming_start_;

  static const int NUM_OF_JOINTS_ = 7;
};

} //joint_trajectory_handler
} //motoman

#endif /* JOINT_TRAJECTORY_HANDLER_H */