katana_gripper_grasp_controller.h

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/*
 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
 * Copyright (C) 2011  University of Osnabrück
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * katana_gripper_grasp_controller.h
 *
 *  Created on: 29.01.2011
 *      Author: Martin Günther <mguenthe@uos.de>
 *
 * based on pr2_gripper_grasp_controller
 */

#ifndef KATANA_GRIPPER_GRASP_CONTROLLER_H_
#define KATANA_GRIPPER_GRASP_CONTROLLER_H_

#include <ros/ros.h>

#include <actionlib/server/simple_action_server.h>

#include <control_msgs/GripperCommandAction.h>
#include <control_msgs/QueryTrajectoryState.h>

#include <katana_gazebo_plugins/gazebo_ros_katana_gripper_action_interface.h>

namespace katana_gazebo_plugins
{

class KatanaGripperGraspController : public IGazeboRosKatanaGripperAction
{
public:
  KatanaGripperGraspController(ros::NodeHandle private_nodehandle);
  virtual ~KatanaGripperGraspController();

  GRKAPoint getNextDesiredPoint(ros::Time time)
  {
    // reset the flag has_new_desired_angle_ because we only emit one angle
    if (has_new_desired_angle_)
      has_new_desired_angle_ = false;

    GRKAPoint point = {desired_angle_, 0.0};
    return point;
  }

  void setCurrentPoint(GRKAPoint point)
  {
    this->current_angle_ = point.position;
  }

  bool hasActiveGoal() const
  {
    return has_new_desired_angle_;
  }

  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);

  void cancelGoal()
  {
    has_new_desired_angle_ = false;
  }

private:
  actionlib::SimpleActionServer<control_msgs::GripperCommandAction> *action_server_;

  ros::ServiceServer query_srv_;

  double gripper_object_presence_threshold_;

  void executeCB(const control_msgs::GripperCommandGoalConstPtr &goal);

  bool serviceCallback(control_msgs::QueryTrajectoryState::Request &request,
                       control_msgs::QueryTrajectoryState::Response &response);

  void setDesiredAngle(double desired_angle)
  {
    desired_angle_ = desired_angle;
    has_new_desired_angle_ = true;
  }

  double goal_threshold_;
  double desired_angle_;
  double current_angle_;
  bool has_new_desired_angle_;
};

}

#endif /* KATANA_GRIPPER_GRASP_CONTROLLER_H_ */