00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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