collision_detector.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_COLLISION_DETECTOR_H_
00038 #define JSK_PCL_ROS_COLLISION_DETECTOR_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <jsk_recognition_msgs/CheckCollision.h>
00043 
00044 #include <pcl/point_types.h>
00045 #include <pcl_ros/transforms.h>
00046 #include <tf/transform_listener.h>
00047 #include <tf/transform_broadcaster.h>
00048 #include <std_msgs/Bool.h>
00049 
00050 #include <jsk_pcl_ros/self_mask_urdf_robot.h>
00051 
00052 namespace jsk_pcl_ros
00053 {
00054   class CollisionDetector: public jsk_topic_tools::DiagnosticNodelet
00055   {
00056   public:
00057     typedef boost::shared_ptr<CollisionDetector> Ptr;
00058     CollisionDetector(): DiagnosticNodelet("CollisionDetector") {}
00059 
00060   protected:
00061     virtual void onInit();
00062     virtual void subscribe();
00063     virtual void unsubscribe();
00064 
00065     virtual void initSelfMask();
00066     virtual bool checkCollision(const sensor_msgs::JointState& joint,
00067                                 const geometry_msgs::PoseStamped& pose);
00068     virtual void pointcloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
00069     virtual bool serviceCallback(jsk_recognition_msgs::CheckCollision::Request &req,
00070                                  jsk_recognition_msgs::CheckCollision::Response &res);
00071     boost::mutex mutex_;
00072     ros::Subscriber sub_;
00073     ros::ServiceServer service_;
00074 
00075     std::string world_frame_id_;
00076     std::string cloud_frame_id_;
00077     boost::shared_ptr<robot_self_filter::SelfMaskUrdfRobot> self_mask_;
00078     ros::Time cloud_stamp_;
00079     pcl::PointCloud<pcl::PointXYZ> cloud_;
00080     tf::TransformListener tf_listener_;
00081     tf::TransformBroadcaster tf_broadcaster_;
00082   };
00083 }
00084 
00085 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:42