move_arm_setup.h
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00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2008, Willow Garage, Inc.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the Willow Garage nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035  *
00036  * \author Sachin Chitta, Ioan Sucan
00037  *********************************************************************/
00038 
00039 #ifndef MOVE_ARM_MOVE_ARM_SETUP_
00040 #define MOVE_ARM_MOVE_ARM_SETUP_
00041 
00042 #include <ros/ros.h>
00043 
00044 #include <arm_control_msgs/TrajectoryStart.h>
00045 #include <arm_control_msgs/TrajectoryQuery.h>
00046 #include <arm_control_msgs/TrajectoryCancel.h>
00047 
00048 #include <planning_environment/monitors/planning_monitor.h>
00049 
00050 namespace move_arm
00051 {
00052 
00054     static const std::string CONTROL_START_NAME      = "controller_start";
00055 
00057     static const std::string CONTROL_QUERY_NAME      = "controller_query";
00058 
00060     static const std::string CONTROL_CANCEL_NAME     = "controller_cancel";
00061 
00063     static const std::string SEARCH_VALID_STATE_NAME = "get_valid_state";
00064 
00066     static const std::string ARM_IK_NAME             = "arm_ik";
00067 
00068 
00070     class MoveArmSetup
00071     {
00072         friend class MoveArm;
00073         friend class MoveArmMonitor;
00074         friend class TeleopArm;
00075 
00076     public:
00077 
00078         MoveArmSetup(void): nodeHandle_("~")
00079         {
00080             collision_models_ = NULL;
00081             planning_monitor_ = NULL;
00082         }
00083 
00084         virtual ~MoveArmSetup(void)
00085         {
00086             if (planning_monitor_)
00087                 delete planning_monitor_;
00088             if (collision_models_)
00089                 delete collision_models_;
00090         }
00091 
00092 
00093         bool configure(void);
00094 
00095     protected:
00096 
00097         bool getControlJointNames(std::vector<std::string> &joint_names);
00098 
00099         ros::NodeHandle                        nodeHandle_, root_handle_;
00100         tf::TransformListener                  tf_;
00101         planning_environment::CollisionModels *collision_models_;
00102         planning_environment::PlanningMonitor *planning_monitor_;
00103 
00104         std::string                            group_;
00105         std::vector<std::string>               groupJointNames_;
00106 
00107       private:
00108         bool use_collision_map_;
00109 
00110     };
00111 
00112 }
00113 
00114 #endif


move_arm
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Mon Dec 2 2013 12:35:17