play_motion_helpers.h

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2013, PAL Robotics, S.L.
 *  All rights reserved.
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#ifndef PLAYMOTIONHELPERS_H
#define PLAYMOTIONHELPERS_H

#include <string>
#include "play_motion/datatypes.h"

namespace ros
{
  class NodeHandle;
}

namespace play_motion
{

  struct MotionInfo
  {
    std::string id;
    std::string name;
    std::string usage;
    std::string description;
    JointNames joints;
    Trajectory traj;
  };

  void getMotionJoints(const ros::NodeHandle &nh, const std::string& motion_id,
                       JointNames& motion_joints);
  void getMotionJoints(const std::string& motion_id, JointNames& motion_joints);


  void getMotionPoints(const ros::NodeHandle &nh, const std::string& motion_id,
                       Trajectory& motion_points);
  void getMotionPoints(const std::string& motion_id, Trajectory& motion_points);


  ros::Duration getMotionDuration(const ros::NodeHandle &nh,
                                  const std::string &motion_id);

  void getMotionIds(const ros::NodeHandle &nh, MotionNames& motion_ids);
  void getMotionIds(MotionNames& motion_ids);

  bool motionExists(const ros::NodeHandle &nh, const std::string &motion_id);
  bool motionExists(const std::string &motion_id);

  bool isAlreadyThere(const JointNames &target_joints, const TrajPoint &target_point,
                      const JointNames &source_joints, const TrajPoint &source_point,
                      double tolerance = 0.15);

  void populateVelocities(const TrajPoint& point_prev,
                          const TrajPoint& point_next,
                                TrajPoint& point_curr);

  void populateVelocities(const Trajectory& traj_in, Trajectory& traj_out);

  void getMotion(const ros::NodeHandle &nh, const std::string &motion_id,
                 MotionInfo &motion_info);
  void getMotion(const std::string &motion_id, MotionInfo &motion_info);
}

#endif