Program Listing for File imarker_end_effector.h

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// Copyright 2016 University of Colorado, Boulder
//
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// modification, are permitted provided that the following conditions are met:
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//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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//      documentation and/or other materials provided with the distribution.
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//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* Author: Dave Coleman
   Desc:   Class to encapsule a visualized robot state that can be controlled using an interactive marker
*/

#ifndef MOVEIT_VISUAL_TOOLS_IMARKER_END_EFFECTOR_H
#define MOVEIT_VISUAL_TOOLS_IMARKER_END_EFFECTOR_H

// ROS
#include <rclcpp/rclcpp.hpp>
#include <interactive_markers/interactive_marker_server.hpp>
#include <visualization_msgs/msg/interactive_marker_feedback.hpp>
#include <visualization_msgs/msg/interactive_marker.hpp>
#include <interactive_markers/menu_handler.hpp>

// MoveIt
#include <moveit/robot_state/robot_state.h>

// this package
#include <moveit_visual_tools/moveit_visual_tools.h>
#include <moveit_visual_tools/imarker_robot_state.h>

// C++
#include <string>
#include <utility>

#include <vector>

namespace moveit_visual_tools
{
using visualization_msgs::msg::InteractiveMarkerControl;
using visualization_msgs::msg::InteractiveMarkerFeedback;

typedef std::function<void(const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr&,
                           const Eigen::Isometry3d&)>
    IMarkerCallback;

class IMarkerRobotState;

class IMarkerEndEffector
{
public:
  IMarkerEndEffector(IMarkerRobotState* imarker_parent, const std::string& imarker_name, ArmData arm_data,
                     rviz_visual_tools::Colors color);

  ~IMarkerEndEffector()
  {
  }

  void getPose(Eigen::Isometry3d& pose);

  bool setPoseFromRobotState();

  void iMarkerCallback(const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);

  void solveIK(Eigen::Isometry3d& pose);

  void initializeInteractiveMarkers();

  void updateIMarkerPose(const Eigen::Isometry3d& pose);

  void sendUpdatedIMarkerPose();

  void make6DofMarker(const geometry_msgs::msg::Pose& pose);

  visualization_msgs::msg::InteractiveMarkerControl& makeBoxControl(visualization_msgs::msg::InteractiveMarker& msg);

  void setCollisionCheckingVerbose(bool collision_checking_verbose)
  {
    collision_checking_verbose_ = collision_checking_verbose;
  }

  void setOnlyCheckSelfCollision(bool only_check_self_collision)
  {
    only_check_self_collision_ = only_check_self_collision;
  }

  void setUseCollisionChecking(bool use_collision_checking)
  {
    use_collision_checking_ = use_collision_checking;
  }

  void setIMarkerCallback(const IMarkerCallback& callback)
  {
    imarker_callback_ = std::move(callback);
  }

  const moveit::core::LinkModel* getEELink()
  {
    return arm_data_.ee_link_;
  }

private:
  // --------------------------------------------------------

  // The short name of this class
  std::string name_;

  // Pointer to parent
  IMarkerRobotState* imarker_parent_;

  // State
  moveit::core::RobotStatePtr imarker_state_;
  Eigen::Isometry3d imarker_pose_;

  // Core MoveIt components
  planning_scene_monitor::PlanningSceneMonitorPtr psm_;

  // Visual tools
  moveit_visual_tools::MoveItVisualToolsPtr visual_tools_;

  // Settings
  ArmData arm_data_;
  rviz_visual_tools::Colors color_ = rviz_visual_tools::PURPLE;

  // File saving
  rclcpp::Time time_since_last_save_;

  // Interactive markers
  // interactive_markers::MenuHandler menu_handler_;
  visualization_msgs::msg::InteractiveMarker int_marker_;
  bool imarker_ready_to_process_ = true;
  std::mutex imarker_mutex_;

  InteractiveMarkerServerPtr imarker_server_;

  // Verbose settings
  bool collision_checking_verbose_ = false;
  bool only_check_self_collision_ = false;
  bool use_collision_checking_ = false;

  // Hook to parent class
  IMarkerCallback imarker_callback_;

  // Clock
  rclcpp::Clock clock_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};  // end class

// Create std pointers for this class
typedef std::shared_ptr<IMarkerEndEffector> IMarkerEndEffectorPtr;
typedef std::shared_ptr<const IMarkerEndEffector> IMarkerEndEffectorConstPtr;
}  // namespace moveit_visual_tools

#endif  // MOVEIT_VISUAL_TOOLS_IMARKER_END_EFFECTOR_H