manual_grasping_node.h

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/******************************************************************************
 * \file manual_grasping_node.h
 * \brief Node for manual grasping
 * \author Zdenek Materna (imaterna@fit.vutbr.cz)
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Zdenek Materna (imaterna@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 *
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file 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 Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef GRASPING_NODE_H
#define GRASPING_NODE_H

#include <ros/ros.h>
#include <string>
#include <math.h>

#include <actionlib/server/simple_action_server.h>
#include <actionlib/client/simple_action_client.h>

#include "srs_assisted_grasping/services_list.h"
#include "srs_assisted_grasping/topics_list.h"

#include "srs_assisted_grasping_msgs/ReactiveGraspingAction.h"
//#include <control_msgs/FollowJointTrajectoryAction.h>

#include "std_msgs/MultiArrayLayout.h"
#include "std_msgs/MultiArrayDimension.h"
#include "std_msgs/Int32MultiArray.h"
#include "std_msgs/Float32MultiArray.h"

//#include "trajectory_msgs/JointTrajectory.h"
#include "pr2_controllers_msgs/JointTrajectoryControllerState.h"

#include "cob_srvs/SetOperationMode.h"
#include "brics_actuator/JointVelocities.h"

/*#include <boost/units/io.hpp>
#include <boost/units/systems/angle/degrees.hpp>
#include <boost/units/conversion.hpp>*/

namespace srs_assisted_grasping {

struct ReactiveGraspingParams {

    ros::Duration default_time_;
    double max_force_;
    double max_velocity_;
    double ramp_;
    double rate_;

};

struct Joints {


        std::vector<std::string> joints;
        std::vector<bool> has_tactile_pad;

};


class ReactiveGrasping {

public:

    void TactileDataCallback(const std_msgs::Float32MultiArray::ConstPtr & msg);
    void SdhStateCallback(const pr2_controllers_msgs::JointTrajectoryControllerState::ConstPtr & msg);



    ReactiveGrasping(std::string name);

    ~ReactiveGrasping() {

      server_->shutdown();
      delete server_;

    };



protected:



    ros::ServiceClient sdh_mode_client_; // for setting SDH to right mode

    ros::Subscriber tact_sub_; // for receiving tactile data
    ros::Subscriber state_sub_; // for receiving sdh state data


    actionlib::SimpleActionServer<srs_assisted_grasping_msgs::ReactiveGraspingAction> * server_;

    ros::NodeHandle nh_;
    std::string action_name_;

    boost::mutex data_mutex_;


    void execute(const srs_assisted_grasping_msgs::ReactiveGraspingGoalConstPtr &goal);

    ros::Publisher vel_publisher_;

    std_msgs::Float32MultiArray tactile_data_;
    pr2_controllers_msgs::JointTrajectoryControllerState sdh_data_;

    ros::Time tactile_data_stamp_;

    ReactiveGraspingParams params_;
    Joints joints_;

    bool setMode(std::string mode);

private:




};


} // namespace


#endif /* GRASPING_NODE_H */