collision_map_interface.h

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// Author(s): Gil Jones and Matei Ciocarlie

#ifndef _COLLISION_MAP_INTERFACE_H_
#define _COLLISION_MAP_INTERFACE_H_

#include <stdexcept>

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>

#include <household_objects_database_msgs/DatabaseModelPose.h>

#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>

#include <arm_navigation_msgs/Shape.h>

#include <tabletop_object_detector/Table.h>
#include <tabletop_object_detector/TabletopDetectionResult.h>

//#include <manipulation_msgs/GraspableObject.h>

#include <object_manipulation_msgs/ClusterBoundingBox.h>

namespace tabletop_collision_map_processing {

class CollisionMapException : public std::runtime_error
{ 
 public:
 CollisionMapException(const std::string error) : std::runtime_error("collision map: "+error) {};
};

class CollisionMapInterface
{
 private:
  ros::NodeHandle root_nh_;

  ros::NodeHandle priv_nh_;

  bool connections_established_;

  ros::Publisher collision_object_pub_;

  ros::Publisher attached_object_pub_;

  ros::ServiceClient cluster_bounding_box_client_;
  ros::ServiceClient cluster_bounding_box2_client_;
  ros::ServiceClient cluster_bounding_box_3d_client_;
  ros::ServiceClient cluster_bounding_box2_3d_client_;

  ros::ServiceClient get_model_mesh_srv_;

  int collision_object_current_id_;

  bool getMeshFromDatabasePose(const household_objects_database_msgs::DatabaseModelPose &model_pose,
                               arm_navigation_msgs::Shape& mesh);

  std::string getNextObjectName();

  bool connectionsPresent();

  void connectServices();

  int point_skip_num_;

  int collision_box_size_;

  double table_thickness_;

 public:
  CollisionMapInterface();


  bool connectionsEstablished(ros::Duration timeout);

  void processCollisionGeometryForTable(const tabletop_object_detector::Table &table,
                                        std::string table_collision_name);

  void processCollisionGeometryForObject(const household_objects_database_msgs::DatabaseModelPose &model_pose, 
                                         std::string &collision_name);

  void processCollisionGeometryForObjectAsBoundingBox
            (const household_objects_database_msgs::DatabaseModelPose &model_pose,
             std::string &collision_name);
  
  void processCollisionGeometryForCluster(const sensor_msgs::PointCloud &cluster, 
                                          std::string &collision_name, float collision_size = -1.0);

  void processCollisionGeometryForBoundingBox(const object_manipulation_msgs::ClusterBoundingBox &box, 
                                              std::string &collision_name);

  void removeCollisionModel(std::string collision_name);

  void resetCollisionModels();

  void resetAttachedModels();

  void resetCollisionId(int id = 0){collision_object_current_id_ = id;}

  void getClusterBoundingBox(const sensor_msgs::PointCloud &cluster,
                             geometry_msgs::PoseStamped &pose_stamped, 
                             geometry_msgs::Vector3 &dimensions);

  void getClusterBoundingBox(const sensor_msgs::PointCloud2 &cluster,
                             geometry_msgs::PoseStamped &pose_stamped, 
                             geometry_msgs::Vector3 &dimensions);

  void getClusterBoundingBox3D(const sensor_msgs::PointCloud &cluster,
                             geometry_msgs::PoseStamped &pose_stamped, 
                             geometry_msgs::Vector3 &dimensions);

  void getClusterBoundingBox3D(const sensor_msgs::PointCloud2 &cluster,
                             geometry_msgs::PoseStamped &pose_stamped, 
                             geometry_msgs::Vector3 &dimensions);

  bool extendBoundingBoxZToTable(const tabletop_object_detector::Table &table,
                                 geometry_msgs::PoseStamped &pose_stamped, 
                                 geometry_msgs::Vector3 &dimensions);
};

} //namespace tabletop_collision_map_perception

#endif