servo.h

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/*******************************************************************************
 *      Title     : servo.h
 *      Project   : moveit_servo
 *      Created   : 3/9/2017
 *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 *
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Los Alamos National Security, LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
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 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
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 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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 *******************************************************************************/
 
#pragma once
 
// System
#include <memory>
 
// MoveIt
#include <moveit_servo/collision_check.h>
#include <moveit_servo/servo_parameters.h>
#include <moveit_servo/servo_calcs.h>
 
namespace moveit_servo
{
class Servo
{
public:
  Servo(ros::NodeHandle& nh, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
  ~Servo();
 
  void start();
 
  void setPaused(bool paused);
 
  bool getCommandFrameTransform(Eigen::Isometry3d& transform);
  bool getCommandFrameTransform(geometry_msgs::TransformStamped& transform);
 
  bool getEEFrameTransform(Eigen::Isometry3d& transform);
  bool getEEFrameTransform(geometry_msgs::TransformStamped& transform);
 
  const ServoParameters& getParameters() const;
 
  void changeRobotLinkCommandFrame(const std::string& new_command_frame)
  {
    servo_calcs_->changeRobotLinkCommandFrame(new_command_frame);
  }
 
  // Give test access to private/protected methods
  friend class ServoFixture;
 
private:
  bool readParameters();
 
  ros::NodeHandle nh_;
 
  // Pointer to the collision environment
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
 
  // Store the parameters that were read from ROS server
  ServoParameters parameters_;
 
  std::unique_ptr<ServoCalcs> servo_calcs_;
  std::unique_ptr<CollisionCheck> collision_checker_;
};
 
// ServoPtr using alias
using ServoPtr = std::shared_ptr<Servo>;
 
}  // namespace moveit_servo