trajectory_monitor.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_
00038 #define MOVEIT_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_
00039 
00040 #include <moveit/planning_scene_monitor/current_state_monitor.h>
00041 #include <moveit/robot_trajectory/robot_trajectory.h>
00042 #include <boost/thread.hpp>
00043 
00044 namespace planning_scene_monitor
00045 {
00046 
00047 typedef boost::function<void(const robot_state::RobotStateConstPtr &state, const ros::Time &stamp)> TrajectoryStateAddedCallback;
00048 
00051 class TrajectoryMonitor
00052 {
00053 public:
00054 
00057   TrajectoryMonitor(const CurrentStateMonitorConstPtr &state_monitor, double sampling_frequency = 5.0);
00058 
00059   ~TrajectoryMonitor();
00060 
00061   void startTrajectoryMonitor();
00062 
00063   void stopTrajectoryMonitor();
00064 
00065   void clearTrajectory();
00066 
00067   bool isActive() const;
00068 
00069   double getSamplingFrequency() const
00070   {
00071     return sampling_frequency_;
00072   }
00073 
00074   void setSamplingFrequency(double sampling_frequency);
00075 
00077   const robot_trajectory::RobotTrajectory& getTrajectory()
00078   {
00079     return trajectory_;
00080   }
00081 
00082   void swapTrajectory(robot_trajectory::RobotTrajectory &other)
00083   {
00084     trajectory_.swap(other);
00085   }
00086 
00087   void setOnStateAddCallback(const TrajectoryStateAddedCallback &callback)
00088   {
00089     state_add_callback_ = callback;
00090   }
00091 
00092 private:
00093 
00094   void recordStates();
00095 
00096   CurrentStateMonitorConstPtr current_state_monitor_;
00097   double sampling_frequency_;
00098 
00099   robot_trajectory::RobotTrajectory trajectory_;
00100   ros::Time trajectory_start_time_;
00101   ros::Time last_recorded_state_time_;
00102 
00103   boost::scoped_ptr<boost::thread> record_states_thread_;
00104   TrajectoryStateAddedCallback state_add_callback_;
00105 };
00106 
00107 typedef boost::shared_ptr<TrajectoryMonitor> TrajectoryMonitorPtr;
00108 typedef boost::shared_ptr<const TrajectoryMonitor> TrajectoryMonitorConstPtr;
00109 }
00110 
00111 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:43:31