pattern_generator.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// 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 the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt 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
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//=================================================================================================

#ifndef VIGIR_PATTERN_GENERATOR_H__
#define VIGIR_PATTERN_GENERATOR_H__

#include <map>

#include <ros/ros.h>
#include <tf/tf.h>

#include <actionlib/client/simple_action_client.h>

#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <vigir_footstep_planning_lib/helper.h>
#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>

#include <vigir_pattern_generator/joystick_handler.h>



namespace vigir_footstep_planning
{
class PatternGenerator
{
public:
  PatternGenerator(ros::NodeHandle& nh);
  virtual ~PatternGenerator();

  void reset();
  void setParams(const msgs::PatternGeneratorParameters& params);
  void setEnabled(bool enabled);
  bool isEnabled() const;
  bool isSimulationMode() const;

  bool hasSteps() const;
  bool hasNewSteps() const;
  void getCompleteStepPlan(msgs::StepPlan& step_plan) const;
  void getNewestStepPlan(msgs::StepPlan& step_plan) const;
  void clearStepPlan();

  bool setNextStartStepIndex(int step_index);
  int getNextStartStepIndex() const;

  void update(const ros::TimerEvent& timer);
  void updateLastPerformedStepIndex(int last_performed_step_index);
  void updateFirstChangeableStepIndex(int first_changeable_step_index);

  // simple pattern generator
  msgs::ErrorStatus generatePattern(const msgs::StepPlanRequest& step_plan_request, msgs::StepPlan& step_plan);

  // typedefs
  typedef boost::shared_ptr<PatternGenerator> Ptr;
  typedef boost::shared_ptr<PatternGenerator> ConstPtr;

private:
  void updateFeetStartPose(uint8_t foot_index, const geometry_msgs::Pose& pose);
  void updateFeetStartPose(const msgs::Foot& foot);
  void updateFeetStartPose(const msgs::Feet& feet);
  void updateFeetStartPose(const msgs::Step& step);
  bool updateFeetStartPoseByStepMap(const std::map<unsigned int, msgs::Step>& map, unsigned int step_index);

  void updateFootstepMap(std::map<unsigned int, msgs::Step>& map, const std::vector<msgs::Step>& vec) const;
  void mapToVectorIndexed(const std::map<unsigned int, msgs::Step>& map, std::vector<msgs::Step>& vec, unsigned int start_index, unsigned int end_index) const;

  void generateSteps(unsigned int n, bool close_step = false);

  // service clients
  ros::ServiceClient generate_feet_pose_client;
  ros::ServiceClient step_plan_request_client;
  ros::ServiceClient stitch_step_plan_client;

  // action clients
  boost::shared_ptr<actionlib::SimpleActionClient<msgs::ExecuteStepPlanAction> > execute_step_plan_ac;

  // handler for joystick input
  JoystickHandler::Ptr joystick_handler;
  geometry_msgs::Pose joy_d_step;

  // generator params
  std::string world_frame_id;
  unsigned int number_of_steps_needed;
  msgs::PatternGeneratorParameters params;

  // controller feedback
  int last_performed_step_index; // last executed step (executing step is current + 1)
  int first_changeable_step_index;
  int next_step_index_needed;

  // state of pattern generator
  msgs::Feet::Ptr start_feet_pose;
  unsigned int foot_start_step_index_left;
  unsigned int foot_start_step_index_right;
  mutable bool has_new_steps;

  // generated step plan
  msgs::StepPlan complete_step_plan;
  msgs::StepPlan newest_step_plan;
  std::map<unsigned int, msgs::Step> step_map;
};
}

#endif