transform_provider.cpp

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/* Author: Suat Gedikli */

#include <moveit/mesh_filter/transform_provider.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_eigen.h>

using namespace std;
using namespace boost;
using namespace Eigen;
using namespace tf;
using namespace mesh_filter;

TransformProvider::TransformProvider(unsigned long interval_us) : stop_(true), interval_us_(interval_us)
{
  tf_.reset(new TransformListener);
  psm_.reset(new planning_scene_monitor::PlanningSceneMonitor("robot_description", tf_));
  psm_->startStateMonitor();
}

TransformProvider::~TransformProvider()
{
  stop();
}

void TransformProvider::start()
{
  stop_ = false;
  thread_ = thread(&TransformProvider::run, this);
}

void TransformProvider::stop()
{
  stop_ = true;
  thread_.join();
}

void TransformProvider::addHandle(MeshHandle handle, const string& name)
{
  if (!stop_)
    throw runtime_error("Can not add handles if TransformProvider is running");

  handle2context_[handle].reset(new TransformContext(name));
}

void TransformProvider::setFrame(const string& frame)
{
  if (frame_id_ != frame)
  {
    frame_id_ = frame;
    for (map<MeshHandle, shared_ptr<TransformContext> >::iterator contextIt = handle2context_.begin();
         contextIt != handle2context_.end(); ++contextIt)
    {
      // invalidate transformations
      contextIt->second->mutex_.lock();
      contextIt->second->transformation_.matrix().setZero();
      contextIt->second->mutex_.unlock();
    }
  }
}

bool TransformProvider::getTransform(MeshHandle handle, Affine3d& transform) const
{
  map<MeshHandle, shared_ptr<TransformContext> >::const_iterator contextIt = handle2context_.find(handle);

  if (contextIt == handle2context_.end())
  {
    ROS_ERROR("Unable to find mesh with handle %d", handle);
    return false;
  }
  contextIt->second->mutex_.lock();
  transform = contextIt->second->transformation_;
  contextIt->second->mutex_.unlock();
  return !(transform.matrix().isZero(0));
}

void TransformProvider::run()
{
  if (handle2context_.empty())
    throw runtime_error("TransformProvider is listening to empty list of frames!");

  while (!stop_)
  {
    updateTransforms();
    usleep(interval_us_);
  }
}

void TransformProvider::setUpdateInterval(unsigned long usecs)
{
  interval_us_ = usecs;
}

void TransformProvider::updateTransforms()
{
  static Affine3d transformation;
  static robot_state::RobotStatePtr robot_state;
  robot_state = psm_->getStateMonitor()->getCurrentState();

  static string error;
  static Stamped<Pose> input_pose, out_pose;
  tf_->getLatestCommonTime(frame_id_, psm_->getPlanningScene()->getPlanningFrame(), input_pose.stamp_, &error);
  input_pose.frame_id_ = psm_->getPlanningScene()->getPlanningFrame();

  for (map<MeshHandle, shared_ptr<TransformContext> >::const_iterator contextIt = handle2context_.begin();
       contextIt != handle2context_.end(); ++contextIt)
  {
    transformation = robot_state->getLinkState(contextIt->second->frame_id_)->getGlobalCollisionBodyTransform();
    poseEigenToTF(transformation, input_pose);
    try
    {
      tf_->transformPose(frame_id_, input_pose, out_pose);
    }
    catch (const tf::TransformException& ex)
    {
      handle2context_[contextIt->first]->mutex_.lock();
      handle2context_[contextIt->first]->transformation_.matrix().setZero();
      handle2context_[contextIt->first]->mutex_.unlock();
      continue;
    }
    catch (std::exception& ex)
    {
      ROS_ERROR("Caught %s while updating transforms", ex.what());
    }
    poseTFToEigen(out_pose, transformation);
    handle2context_[contextIt->first]->mutex_.lock();
    handle2context_[contextIt->first]->transformation_ = transformation;
    handle2context_[contextIt->first]->mutex_.unlock();
  }
}