current_state_monitor.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_
#define MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_

#include <ros/ros.h>
#include <tf/tf.h>
#include <moveit/robot_state/robot_state.h>
#include <sensor_msgs/JointState.h>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>

namespace planning_scene_monitor
{

typedef boost::function<void(const sensor_msgs::JointStateConstPtr &joint_state)> JointStateUpdateCallback;

class CurrentStateMonitor
{
public:

  CurrentStateMonitor(const robot_model::RobotModelConstPtr &robot_model, const boost::shared_ptr<tf::Transformer> &tf);

  ~CurrentStateMonitor();

  void startStateMonitor(const std::string &joint_states_topic = "joint_states");

  void stopStateMonitor();

  bool isActive() const;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  std::string getMonitoredTopic() const;

  bool haveCompleteState() const;

  bool haveCompleteState(const ros::Duration &age) const;

  bool haveCompleteState(std::vector<std::string> &missing_joints) const;

  bool haveCompleteState(const ros::Duration &age, std::vector<std::string> &missing_states) const;

  robot_state::RobotStatePtr getCurrentState() const;

  void setToCurrentState(robot_state::RobotState &upd) const;
  
  ros::Time getCurrentStateTime() const;

  std::pair<robot_state::RobotStatePtr, ros::Time> getCurrentStateAndTime() const;

  std::map<std::string, double> getCurrentStateValues() const;

  bool waitForCurrentState(double wait_time) const;

  bool waitForCurrentState(const std::string &group, double wait_time) const;

  const ros::Time& getMonitorStartTime() const
  {
    return monitor_start_time_;
  }

  void addUpdateCallback(const JointStateUpdateCallback &fn);

  void clearUpdateCallbacks();

  void setBoundsError(double error)
  {
    error_ = (error > 0) ? error : -error;
  }

  double getBoundsError() const
  {
    return error_;
  }

private:

  void jointStateCallback(const sensor_msgs::JointStateConstPtr &joint_state);
  bool isPassiveDOF(const std::string &dof) const;

  ros::NodeHandle                              nh_;
  boost::shared_ptr<tf::Transformer>           tf_;
  robot_model::RobotModelConstPtr              robot_model_;
  robot_state::RobotState                      robot_state_;
  std::map<std::string, ros::Time>             joint_time_;
  bool                                         state_monitor_started_;
  ros::Time                                    monitor_start_time_;
  double                                       error_;
  ros::Subscriber                              joint_state_subscriber_;
  ros::Time                                    current_state_time_;
  ros::Time                                    last_tf_update_;
  
  mutable boost::mutex                         state_update_lock_;
  std::vector< JointStateUpdateCallback >      update_callbacks_;
};

MOVEIT_CLASS_FORWARD(CurrentStateMonitor);

}

#endif