bin_pose_emulator.h

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#ifndef BIN_POSE_EMULATOR_H
#define BIN_POSE_EMULATOR_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <yaml-cpp/yaml.h>
#include <geometry_msgs/Pose.h>
#include <visualization_msgs/Marker.h>
#include <tf/transform_broadcaster.h>
#include <bin_pose_msgs/bin_pose.h>

struct ConfigData
{
  // Virtual Bin center
  double bin_center_x;
  double bin_center_y;
  double bin_center_z;

  // Virtual Bin size
  double bin_size_x;
  double bin_size_y;
  double bin_size_z;

  // Default tool point orientation
  double roll_default;
  double pitch_default;
  double yaw_default;

  // Allowed orientation range
  double roll_range;
  double pitch_range;
  double yaw_range;

  // Planning constraints
  double approach_distance;
  double deapproach_height;
};

class Emulator
{
public:
  Emulator(ros::NodeHandle* nh, std::string filepath);
  ~Emulator();

  bool callback(bin_pose_msgs::bin_pose::Request& req,
                bin_pose_msgs::bin_pose::Response& res);

private:
  double randGen(double fMin, double fMax);
  bool parseConfig(std::string filepath);

  void visualize_bin(void);
  void visualize_pose(geometry_msgs::Pose grasp_pose,
                      geometry_msgs::Pose approach_pose);
  void broadcast_pose_tf(geometry_msgs::Pose grasp_pose);

  ros::Publisher marker_pub;

  ConfigData config;
};

#endif // BIN_POSE_EMULATOR_H