move_joint_group.cpp

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/*
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#include "play_motion/move_joint_group.h"

#include <ros/ros.h>
#include <boost/foreach.hpp>

#define foreach BOOST_FOREACH

namespace play_motion
{
  MoveJointGroup::MoveJointGroup(const std::string& controller_name, const JointNames& joint_names)
    : busy_(false),
      controller_name_(controller_name),
      joint_names_(joint_names),
      client_(controller_name_ + "/follow_joint_trajectory", false)
  { }

  void MoveJointGroup::alCallback()
  {
    busy_ = false;
    ActionResultPtr r = client_.getResult();
    active_cb_(r->error_code);
    active_cb_.clear();
  }

  bool MoveJointGroup::isIdle() const
  {
    return !busy_;
  }

  void MoveJointGroup::cancel()
  {
    busy_ = false;
    client_.cancelAllGoals();
  }

  void MoveJointGroup::setCallback(const Callback& cb)
  {
    active_cb_ = cb;
  }

  const JointNames& MoveJointGroup::getJointNames() const
  {
    return joint_names_;
  }

  actionlib::SimpleClientGoalState MoveJointGroup::getState()
  {
    return client_.getState();
  }

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

  bool MoveJointGroup::isControllingJoint(const std::string& joint_name)
  {
    if (!client_.isServerConnected())
      return false;

    foreach (const std::string& jn, joint_names_)
      if (joint_name == jn)
        return true;

    return false;
  }

  bool MoveJointGroup::sendGoal(const std::vector<TrajPoint>& traj)
  {
    ROS_DEBUG_STREAM("Sending trajectory goal to " << controller_name_ << ".");

    ActionGoal goal;
    goal.trajectory.joint_names = joint_names_;
    goal.trajectory.points.reserve(traj.size());

    foreach (const TrajPoint& p, traj)
    {
      if (p.positions.size() != joint_names_.size())
      {
        ROS_ERROR_STREAM("Pose size mismatch. Expected: " << joint_names_.size()
                         << ", got: " << p.positions.size() << ".");
        return false;
      }
      trajectory_msgs::JointTrajectoryPoint point;

      point.positions     = p.positions;         // Reach these joint positions...
      point.velocities    = p.velocities;        // ...with a given velocity (may be unset)
      point.accelerations = p.accelerations;     // ...and acceleration      (may be unset)

      point.time_from_start = p.time_from_start; // ...in this time

      goal.trajectory.points.push_back(point);
    }
    client_.sendGoal(goal, boost::bind(&MoveJointGroup::alCallback, this));
    busy_ = true;

    return true;
  }
}