semantic_world.h

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/* Author: Sachin Chitta */

#ifndef MOVEIT_SEMANTIC_WORLD_
#define MOVEIT_SEMANTIC_WORLD_

#include <ros/ros.h>
#include <moveit/planning_scene/planning_scene.h>
#include <object_recognition_msgs/TableArray.h>
#include <moveit_msgs/CollisionObject.h>
#include <geometric_shapes/shapes.h>

#include <boost/thread/mutex.hpp>

namespace moveit
{

namespace semantic_world
{

class SemanticWorld
{
public:

  typedef boost::function<void()> TableCallbackFn;

  SemanticWorld(const planning_scene::PlanningSceneConstPtr &planning_scene);

  object_recognition_msgs::TableArray getTablesInROI(double minx, double miny, double minz, 
                                                     double maxx, double maxy, double maxz) const;

  std::vector<std::string> getTableNamesInROI(double minx, double miny, double minz, 
                                              double maxx, double maxy, double maxz) const;

  std::vector<geometry_msgs::PoseStamped> generatePlacePoses(const std::string &table_name,
                                                             const shapes::ShapeConstPtr& object_shape,
                                                             const geometry_msgs::Quaternion &object_orientation,
                                                             double resolution,
                                                             double delta_height = 0.01,
                                                             unsigned int num_heights = 2) const;

  std::vector<geometry_msgs::PoseStamped> generatePlacePoses(const object_recognition_msgs::Table &table,
                                                             const shapes::ShapeConstPtr& object_shape,
                                                             const geometry_msgs::Quaternion &object_orientation,
                                                             double resolution,
                                                             double delta_height = 0.01,
                                                             unsigned int num_heights = 2) const;
  std::vector<geometry_msgs::PoseStamped> generatePlacePoses(const object_recognition_msgs::Table &table,
                                                             double resolution,
                                                             double height_above_table,
                                                             double delta_height = 0.01,
                                                             unsigned int num_heights = 2,
                                                             double min_distance_from_edge = 0.10) const;

  
  void clear();

  bool addTablesToCollisionWorld();

  visualization_msgs::MarkerArray getPlaceLocationsMarker(const std::vector<geometry_msgs::PoseStamped> &poses) const;

  void addTableCallback(const TableCallbackFn &table_callback)
  {
    table_callback_ = table_callback;
  }  

  std::string findObjectTable(const geometry_msgs::Pose &pose,
                              double min_distance_from_edge = 0.0,
                              double min_vertical_offset = 0.0) const;  
  
  bool isInsideTableContour(const geometry_msgs::Pose &pose,
                            const object_recognition_msgs::Table &table,
                            double min_distance_from_edge = 0.0,
                            double min_vertical_offset = 0.0) const;
  
private:

  shapes::Mesh* createSolidMeshFromPlanarPolygon (const shapes::Mesh& polygon, double thickness) const;

  shapes::Mesh* orientPlanarPolygon (const shapes::Mesh& polygon) const;
  
  void tableCallback(const object_recognition_msgs::TableArrayPtr &msg);  

  void transformTableArray(object_recognition_msgs::TableArray &table_array) const;

  planning_scene::PlanningSceneConstPtr planning_scene_;

  ros::NodeHandle node_handle_;

  object_recognition_msgs::TableArray table_array_;

  std::vector<geometry_msgs::PoseStamped> place_poses_;

  std::map<std::string, object_recognition_msgs::Table> current_tables_in_collision_world_;
  
  //  boost::mutex table_lock_;

  ros::Subscriber table_subscriber_;

  ros::Publisher visualization_publisher_, collision_object_publisher_;  
  
  TableCallbackFn table_callback_;

  ros::Publisher planning_scene_diff_publisher_;  
  
};

}

}

#endif