current_state_monitor.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_
#define MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_

#include <ros/ros.h>
#include <tf/tf.h>
#include <moveit/robot_state/robot_state.h>
#include <sensor_msgs/JointState.h>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <moveit/macros/deprecation.h>
#include <boost/thread/condition_variable.hpp>

namespace planning_scene_monitor
{
typedef boost::function<void(const sensor_msgs::JointStateConstPtr& joint_state)> JointStateUpdateCallback;

class CurrentStateMonitor
{
  /* tf changed their interface between indigo and kinetic
     from boost::signals::connection to boost::signals2::connection */
  typedef decltype(tf::Transformer().addTransformsChangedListener(boost::function<void(void)>())) TFConnection;

public:
  CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model, const boost::shared_ptr<tf::Transformer>& tf);

  CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model, const boost::shared_ptr<tf::Transformer>& tf,
                      ros::NodeHandle nh);

  ~CurrentStateMonitor();

  void startStateMonitor(const std::string& joint_states_topic = "joint_states");

  void stopStateMonitor();

  bool isActive() const;

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  std::string getMonitoredTopic() const;

  bool haveCompleteState() const;

  bool haveCompleteState(const ros::Duration& age) const;

  bool haveCompleteState(std::vector<std::string>& missing_joints) const;

  bool haveCompleteState(const ros::Duration& age, std::vector<std::string>& missing_states) const;

  robot_state::RobotStatePtr getCurrentState() const;

  void setToCurrentState(robot_state::RobotState& upd) const;

  ros::Time getCurrentStateTime() const;

  std::pair<robot_state::RobotStatePtr, ros::Time> getCurrentStateAndTime() const;

  std::map<std::string, double> getCurrentStateValues() const;

  bool waitForCurrentState(const ros::Time t = ros::Time::now(), double wait_time = 1.0) const;

  bool waitForCompleteState(double wait_time) const;
  MOVEIT_DEPRECATED bool waitForCurrentState(double wait_time) const;

  bool waitForCompleteState(const std::string& group, double wait_time) const;
  MOVEIT_DEPRECATED bool waitForCurrentState(const std::string& group, double wait_time) const;

  const ros::Time& getMonitorStartTime() const
  {
    return monitor_start_time_;
  }

  void addUpdateCallback(const JointStateUpdateCallback& fn);

  void clearUpdateCallbacks();

  void setBoundsError(double error)
  {
    error_ = (error > 0) ? error : -error;
  }

  double getBoundsError() const
  {
    return error_;
  }

  void enableCopyDynamics(bool enabled)
  {
    copy_dynamics_ = enabled;
  }

private:
  void jointStateCallback(const sensor_msgs::JointStateConstPtr& joint_state);
  void tfCallback();

  ros::NodeHandle nh_;
  boost::shared_ptr<tf::Transformer> tf_;
  robot_model::RobotModelConstPtr robot_model_;
  robot_state::RobotState robot_state_;
  std::map<const moveit::core::JointModel*, ros::Time> joint_time_;
  bool state_monitor_started_;
  bool copy_dynamics_;  // Copy velocity and effort from joint_state
  ros::Time monitor_start_time_;
  double error_;
  ros::Subscriber joint_state_subscriber_;
  ros::Time current_state_time_;

  mutable boost::mutex state_update_lock_;
  mutable boost::condition_variable state_update_condition_;
  std::vector<JointStateUpdateCallback> update_callbacks_;

  std::shared_ptr<TFConnection> tf_connection_;
};

MOVEIT_CLASS_FORWARD(CurrentStateMonitor);
}

#endif