collision_detector.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_COLLISION_DETECTOR_H_
#define JSK_PCL_ROS_COLLISION_DETECTOR_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <jsk_recognition_msgs/CheckCollision.h>

#include <pcl/point_types.h>
#include <pcl_ros/transforms.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <std_msgs/Bool.h>

#include <jsk_pcl_ros/self_mask_urdf_robot.h>

namespace jsk_pcl_ros
{
  class CollisionDetector: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<CollisionDetector> Ptr;
    CollisionDetector(): DiagnosticNodelet("CollisionDetector") {}

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();

    virtual void initSelfMask();
    virtual bool checkCollision(const sensor_msgs::JointState& joint,
                                const geometry_msgs::PoseStamped& pose);
    virtual void pointcloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual bool serviceCallback(jsk_recognition_msgs::CheckCollision::Request &req,
                                 jsk_recognition_msgs::CheckCollision::Response &res);
    boost::mutex mutex_;
    ros::Subscriber sub_;
    ros::ServiceServer service_;

    std::string world_frame_id_;
    std::string cloud_frame_id_;
    boost::shared_ptr<robot_self_filter::SelfMaskUrdfRobot> self_mask_;
    ros::Time cloud_stamp_;
    pcl::PointCloud<pcl::PointXYZ> cloud_;
    tf::TransformListener tf_listener_;
    tf::TransformBroadcaster tf_broadcaster_;
  };
}

#endif