footstep_planning_vis_node.h
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00001 //=================================================================================================
00002 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef VIGIR_FOOTSTEP_PLANNING_VIS_NODE_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_VIS_NODE_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
00035 
00036 #include <vigir_footstep_planning_lib/visualization/footstep_planning_vis.h>
00037 
00038 
00039 
00040 namespace vigir_footstep_planning
00041 {
00042 class FootstepPlanningVisNode
00043 {
00044 public:
00045   FootstepPlanningVisNode();
00046   virtual ~FootstepPlanningVisNode();
00047 
00048 protected:
00049   void stepPlanRequestVisCallback(const msgs::StepPlanRequestConstPtr& step_plan_request);
00050   void stepPlanVisCallback(const msgs::StepPlanConstPtr& step_plan);
00051   void planningFeedbackCallback(const msgs::PlanningFeedbackConstPtr& planning_feedback);
00052 
00053   void clearVisualization(const std_msgs::Header& header);
00054 
00055   // subscriber
00056   ros::Subscriber step_plan_request_vis_sub;
00057   ros::Subscriber step_plan_vis_sub;
00058   ros::Subscriber planning_feedback_sub;
00059 
00060   // publisher
00061   ros::Publisher step_plan_vis_pub;
00062   ros::Publisher upper_body_vis_pub;
00063   ros::Publisher step_plan_path_pub;
00064   ros::Publisher start_feet_pose_pub;
00065   ros::Publisher goal_feet_pose_pub;
00066   ros::Publisher visited_steps_pub;
00067   ros::Publisher total_visited_steps_pub;
00068   ros::Publisher current_step_plan_pub;
00069 
00070   // service clients
00071   ros::ServiceClient transform_foot_pose_client;
00072   ros::ServiceClient transform_feet_poses_client;
00073   ros::ServiceClient transform_step_plan_client;
00074 
00075   // robot parameters
00076   geometry_msgs::Vector3 foot_size;
00077   geometry_msgs::Vector3 upper_body_size;
00078   geometry_msgs::Vector3 upper_body_origin_shift;
00079 
00080   // visualization helper
00081   visualization_msgs::MarkerArray last_step_plan_vis;
00082   visualization_msgs::MarkerArray last_upper_body_vis;
00083   visualization_msgs::MarkerArray last_current_step_plan_vis;
00084   std::set<msgs::Step, vis::StepMsgVisCompare> total_visited_steps;
00085 };
00086 }
00087 
00088 #endif


vigir_footstep_planning_lib
Author(s): Alexander Stumpf
autogenerated on Sat Jul 15 2017 02:47:56