00001 /****************************************************************************** 00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved. 00003 00004 Redistribution and use in source and binary forms, with or without 00005 modification, are permitted provided that the following conditions are met: 00006 00007 * Redistributions of source code must retain the above copyright notice, this 00008 list of conditions and the following disclaimer. 00009 00010 * Redistributions in binary form must reproduce the above copyright notice, 00011 this list of conditions and the following disclaimer in the documentation 00012 and/or other materials provided with the distribution. 00013 00014 * Neither the name of the copyright holder nor the names of its 00015 contributors may be used to endorse or promote products derived from 00016 this software without specific prior written permission. 00017 00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00026 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00028 ******************************************************************************/ 00029 00030 #ifndef TOWR_ROS_USER_INTERFACE_H_ 00031 #define TOWR_ROS_USER_INTERFACE_H_ 00032 00033 #include <ros/ros.h> 00034 00035 #include <xpp_states/state.h> 00036 00037 namespace towr { 00038 00045 class TowrUserInterface { 00046 public: 00050 TowrUserInterface (); 00051 virtual ~TowrUserInterface () = default; 00052 00057 void CallbackKey(int c); 00058 00059 private: 00060 ::ros::Publisher user_command_pub_; 00061 00062 00063 void PublishCommand(); 00064 00065 xpp::State3dEuler goal_geom_; 00066 int terrain_; 00067 int gait_combo_; 00068 int robot_; 00069 bool visualize_trajectory_; 00070 bool play_initialization_; 00071 double replay_speed_; 00072 bool plot_trajectory_; 00073 bool optimize_; 00074 bool publish_optimized_trajectory_; 00075 double total_duration_; 00076 bool optimize_phase_durations_; 00077 00078 int AdvanceCircularBuffer(int& curr, int max) const; 00079 00080 void PrintVector(const Eigen::Vector3d& v) const; 00081 void PrintVector2D(const Eigen::Vector2d& v) const; 00082 void PrintScreen() const; 00083 }; 00084 00085 } /* namespace towr */ 00086 00087 #endif /* TOWR_ROS_USER_INTERFACE_H_ */