interaction_handler.h

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/* Author: Ioan Sucan, Adam Leeper */

#ifndef MOVEIT_ROBOT_INTERACTION_INTERACTION_HANDLER_
#define MOVEIT_ROBOT_INTERACTION_INTERACTION_HANDLER_

#include <moveit/robot_interaction/locked_robot_state.h>
//#include <moveit/robot_interaction/robot_interaction.h>
#include <visualization_msgs/InteractiveMarkerFeedback.h>
#include <interactive_markers/menu_handler.h>
#include <tf/tf.h>

namespace robot_interaction
{

class InteractionHandler;
typedef boost::shared_ptr<InteractionHandler> InteractionHandlerPtr;
typedef boost::shared_ptr<const InteractionHandler> InteractionHandlerConstPtr;

class RobotInteraction;
typedef boost::shared_ptr<RobotInteraction> RobotInteractionPtr;

class KinematicOptionsMap;
typedef boost::shared_ptr<KinematicOptionsMap> KinematicOptionsMapPtr;

class EndEffectorInteraction;
class JointInteraction;
class GenericInteraction;


typedef boost::function<void(InteractionHandler*, bool)> InteractionHandlerCallbackFn;



class InteractionHandler : public LockedRobotState
{
public:
  // Use this constructor if you have an initial RobotState already.
  InteractionHandler(const RobotInteractionPtr& robot_interaction,
                     const std::string &name,
                     const robot_state::RobotState &initial_robot_state,
                     const boost::shared_ptr<tf::Transformer> &tf = boost::shared_ptr<tf::Transformer>());

  // Use this constructor to start with a default state.
  InteractionHandler(const RobotInteractionPtr& robot_interaction,
                     const std::string &name,
                     const boost::shared_ptr<tf::Transformer> &tf = boost::shared_ptr<tf::Transformer>());

  // DEPRECATED.
  InteractionHandler(const std::string &name,
                     const robot_state::RobotState &initial_robot_state,
                     const boost::shared_ptr<tf::Transformer> &tf = boost::shared_ptr<tf::Transformer>());
  // DEPRECATED.
  InteractionHandler(const std::string &name,
                     const robot_model::RobotModelConstPtr &model,
                     const boost::shared_ptr<tf::Transformer> &tf = boost::shared_ptr<tf::Transformer>());

  virtual ~InteractionHandler()
  {
  }

  const std::string& getName() const
  {
    return name_;
  }

  using LockedRobotState::getState;

  using LockedRobotState::setState;

  void setUpdateCallback(const InteractionHandlerCallbackFn &callback);
  const InteractionHandlerCallbackFn& getUpdateCallback() const;
  void setMeshesVisible(bool visible);
  bool getMeshesVisible() const;
  void setControlsVisible(bool visible);
  bool getControlsVisible() const;

  void setPoseOffset(const EndEffectorInteraction& eef, const geometry_msgs::Pose& m);

  void setPoseOffset(const JointInteraction& j, const geometry_msgs::Pose& m);

  bool getPoseOffset(const EndEffectorInteraction& eef, geometry_msgs::Pose& m);

  bool getPoseOffset(const JointInteraction& vj, geometry_msgs::Pose& m);

  void clearPoseOffset(const EndEffectorInteraction& eef);

  void clearPoseOffset(const JointInteraction& vj);

  void clearPoseOffsets();

  void setMenuHandler(
        const boost::shared_ptr<interactive_markers::MenuHandler>& mh);


  const boost::shared_ptr<interactive_markers::MenuHandler>& getMenuHandler();

  void clearMenuHandler();

  bool getLastEndEffectorMarkerPose(const EndEffectorInteraction& eef,
                                    geometry_msgs::PoseStamped& pose);

  bool getLastJointMarkerPose(const JointInteraction& vj,
                              geometry_msgs::PoseStamped& pose);

  void clearLastEndEffectorMarkerPose(const EndEffectorInteraction& eef);

  void clearLastJointMarkerPose(const JointInteraction& vj);

  void clearLastMarkerPoses();

  virtual void handleEndEffector(
        const EndEffectorInteraction &eef,
        const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);

  virtual void handleJoint(
        const JointInteraction &vj,
        const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);

  virtual void handleGeneric(
        const GenericInteraction &g,
        const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);

  virtual bool inError(const EndEffectorInteraction& eef) const;

  virtual bool inError(const JointInteraction& vj) const;

  virtual bool inError(const GenericInteraction& g) const;

  void clearError(void);

  void setRobotInteraction(RobotInteraction* robot_interaction);

protected:

  bool transformFeedbackPose(
        const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback,
        const geometry_msgs::Pose &offset,
        geometry_msgs::PoseStamped &tpose);

  const std::string name_;
  const std::string planning_frame_;
  boost::shared_ptr<tf::Transformer> tf_;

private:

  typedef boost::function<void(InteractionHandler*)> StateChangeCallbackFn;

  // Update RobotState using a generic interaction feedback message.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  void updateStateGeneric(
        robot_state::RobotState* state,
        const GenericInteraction* g,
        const visualization_msgs::InteractiveMarkerFeedbackConstPtr *feedback,
        StateChangeCallbackFn *callback);

  // Update RobotState for a new pose of an eef.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  void updateStateEndEffector(robot_state::RobotState* state,
                              const EndEffectorInteraction* eef,
                              const geometry_msgs::Pose* pose,
                              StateChangeCallbackFn *callback);

  // Update RobotState for a new joint position.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  void updateStateJoint(robot_state::RobotState* state,
                        const JointInteraction* vj,
                        const geometry_msgs::Pose* pose,
                        StateChangeCallbackFn *callback);

  // Set the error state for \e name.
  // Returns true if the error state for \e name changed.
  // YOU MUST LOCK state_lock_ BEFORE CALLING THIS.
  bool setErrorState(const std::string& name, bool new_error_state);

  bool getErrorState(const std::string& name) const;

  // Contains the (user-programmable) pose offset between the end-effector
  // parent link (or a virtual joint) and the desired control frame for the
  // interactive marker. The offset is expressed in the frame of the parent
  // link or virtual joint. For example, on a PR2 an offset of +0.20 along
  // the x-axis will move the center of the 6-DOF interactive marker from
  // the wrist to the finger tips.
  // PROTECTED BY offset_map_lock_
  std::map<std::string, geometry_msgs::Pose> offset_map_;

  // Contains the most recent poses received from interactive marker feedback,
  // with the offset removed (e.g. in theory, coinciding with the end-effector
  // parent or virtual joint). This allows a user application to query for the
  // interactive marker pose (which could be useful for robot control using
  // gradient-based methods) even when the IK solver failed to find a valid
  // robot state that satisfies the feedback pose.
  // PROTECTED BY pose_map_lock_
  std::map<std::string, geometry_msgs::PoseStamped> pose_map_;

  // The RobotInteraction we are associated with.
  // This is never safe to use because the RobotInteraction could be deleted at
  // any time.
  // Therefore it is stored as a void* to discourage its use.
  // This is only used inside setKinematicOptions() with the state_lock_ held.
  // That function should only be called from RobotInteraction methods.
  // PROTECTED BY state_lock_
  const void* robot_interaction_;

  boost::mutex pose_map_lock_;
  boost::mutex offset_map_lock_;

  // per group options for doing kinematics.
  // PROTECTED BY state_lock_ - The POINTER is protected by state_lock_.  The
  // CONTENTS is protected internally.
  KinematicOptionsMapPtr kinematic_options_map_;

  // A set of Interactions for which the pose is invalid.
  // PROTECTED BY state_lock_
  std::set<std::string> error_state_;

  // For adding menus (and associated callbacks) to all the
  // end-effector and virtual-joint interactive markers
  //
  // PROTECTED BY state_lock_ - The POINTER is protected by state_lock_.  The
  // CONTENTS is not.
  boost::shared_ptr<interactive_markers::MenuHandler> menu_handler_;

  // Called when the RobotState maintained by the handler changes.
  // The caller may, for example, redraw the robot at the new state.
  // handler is the handler that changed.
  // error_state_changed is true if an end effector's error state may have
  // changed.
  //
  // PROTECTED BY state_lock_ - the function pointer is protected, but the call
  // is made without any lock held.
  boost::function<void(InteractionHandler* handler,
                       bool error_state_changed)> update_callback_;

  // PROTECTED BY state_lock_
  bool display_meshes_;

  // PROTECTED BY state_lock_
  bool display_controls_;

  // remove '_' characters from name
  static std::string fixName(std::string name);

public:
  // DEPRECATED FUNCTIONS.
  // DO NOT USE THESE.  Instead access the KinematicOptions by calling
  // RobotInteraction::getKinematicOptionsMap()
  void setGroupStateValidityCallback(
        const robot_state::GroupStateValidityCallbackFn &callback);
  void setIKTimeout(double timeout);
  void setIKAttempts(unsigned int attempts);
  const kinematics::KinematicsQueryOptions& getKinematicsQueryOptions() const;
  void setKinematicsQueryOptions(const kinematics::KinematicsQueryOptions &opt);
  void setKinematicsQueryOptionsForGroup(const std::string& group_name,
           const kinematics::KinematicsQueryOptions &options);
};


}

#endif