sensor_manager.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_SENSOR_MANAGER_
#define MOVEIT_MOVEIT_SENSOR_MANAGER_

#include <vector>
#include <string>
#include <boost/shared_ptr.hpp>
#include <moveit_msgs/RobotTrajectory.h>
#include <geometry_msgs/PointStamped.h>

namespace moveit_sensor_manager
{

struct SensorInfo
{
  SensorInfo() : min_dist(0.), max_dist(0.0), x_angle(0.0), y_angle(0.0)
  {
  }

  std::string origin_frame;

  /* Define the frustum (or approximation of the frustum) */

  double min_dist;

  double max_dist;

  double x_angle;

  double y_angle;
};

class MoveItSensorManager
{
public:

  MoveItSensorManager()
  {
  }

  virtual ~MoveItSensorManager()
  {
  }

  virtual void getSensorsList(std::vector<std::string> &names) const = 0;

  virtual SensorInfo getSensorInfo(const std::string &name) const = 0;

  virtual bool hasSensors() const = 0;

  virtual bool pointSensorTo(const std::string &name, const geometry_msgs::PointStamped &target, moveit_msgs::RobotTrajectory &sensor_trajectory) = 0;

};

typedef boost::shared_ptr<MoveItSensorManager> MoveItSensorManagerPtr;
typedef boost::shared_ptr<const MoveItSensorManager> MoveItSensorManagerConstPtr;

}

#endif