current_state_monitor.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_
#define MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_

#include <ros/ros.h>
#include <tf/tf.h>
#include <moveit/robot_state/robot_state.h>
#include <sensor_msgs/JointState.h>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>

namespace planning_scene_monitor
{
typedef boost::function<void(const sensor_msgs::JointStateConstPtr& joint_state)> JointStateUpdateCallback;

class CurrentStateMonitor
{
public:
  CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model, const boost::shared_ptr<tf::Transformer>& tf);

  CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model, const boost::shared_ptr<tf::Transformer>& tf,
                      ros::NodeHandle nh);

  ~CurrentStateMonitor();

  void startStateMonitor(const std::string& joint_states_topic = "joint_states");

  void stopStateMonitor();

  bool isActive() const;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  std::string getMonitoredTopic() const;

  bool haveCompleteState() const;

  bool haveCompleteState(const ros::Duration& age) const;

  bool haveCompleteState(std::vector<std::string>& missing_joints) const;

  bool haveCompleteState(const ros::Duration& age, std::vector<std::string>& missing_states) const;

  robot_state::RobotStatePtr getCurrentState() const;

  void setToCurrentState(robot_state::RobotState& upd) const;

  ros::Time getCurrentStateTime() const;

  std::pair<robot_state::RobotStatePtr, ros::Time> getCurrentStateAndTime() const;

  std::map<std::string, double> getCurrentStateValues() const;

  bool waitForCurrentState(double wait_time) const;

  bool waitForCurrentState(const std::string& group, double wait_time) const;

  const ros::Time& getMonitorStartTime() const
  {
    return monitor_start_time_;
  }

  void addUpdateCallback(const JointStateUpdateCallback& fn);

  void clearUpdateCallbacks();

  void setBoundsError(double error)
  {
    error_ = (error > 0) ? error : -error;
  }

  double getBoundsError() const
  {
    return error_;
  }

  void enableCopyDynamics(bool enabled)
  {
    copy_dynamics_ = enabled;
  }

private:
  void jointStateCallback(const sensor_msgs::JointStateConstPtr& joint_state);
  bool isPassiveOrMimicDOF(const std::string& dof) const;

  ros::NodeHandle nh_;
  boost::shared_ptr<tf::Transformer> tf_;
  robot_model::RobotModelConstPtr robot_model_;
  robot_state::RobotState robot_state_;
  std::map<std::string, ros::Time> joint_time_;
  bool state_monitor_started_;
  bool copy_dynamics_;  // Copy velocity and effort from joint_state
  ros::Time monitor_start_time_;
  double error_;
  ros::Subscriber joint_state_subscriber_;
  ros::Time current_state_time_;
  ros::Time last_tf_update_;

  mutable boost::mutex state_update_lock_;
  std::vector<JointStateUpdateCallback> update_callbacks_;
};

MOVEIT_CLASS_FORWARD(CurrentStateMonitor);
}

#endif