arm_movements_by_pose_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _arm_movements_by_pose_alg_h_
#define _arm_movements_by_pose_alg_h_

#include <iri_arm_movements_by_pose/ArmMovementsByPoseConfig.h>
#include "mutex.h"

//include arm_movements_by_pose_alg main library
// #include <pcl/ModelCoefficients.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>

// eigen
#include <Eigen/Core>
#include <Eigen/Geometry>

class ArmMovementsByPoseAlgorithm
{
  protected:
    CMutex alg_mutex_;
   
    // private attributes and methods
  private:
    tf::TransformBroadcaster tf_br;
    tf::TransformListener tf_listener;
    
    // private parameters
    double hand_size_offset;
    double wam_security_distance;
    bool robot_wam;
    
    geometry_msgs::PoseStamped get_pose_from_tf_with_offset(geometry_msgs::PoseStamped pose_orig, std::vector<float> plane_coefs);
    

  public:
    typedef iri_arm_movements_by_pose::ArmMovementsByPoseConfig Config;

    Config config_;

    ArmMovementsByPoseAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all arm_movements_by_pose_alg interface methods to retrieve and set
    // the driver parameters

    ~ArmMovementsByPoseAlgorithm(void);
    
    
    
    std::vector<geometry_msgs::PoseStamped> get_transformed_poses(std::vector<geometry_msgs::PoseStamped> poses, 
                                                           std::vector<float> plane_coefficients);
    
    std::vector<geometry_msgs::PoseStamped> get_initial_position();
    
    
    geometry_msgs::Quaternion rotate_pitch(geometry_msgs::Quaternion orientation_msgs, double angle);
    
    geometry_msgs::Quaternion rotate_roll(geometry_msgs::Quaternion orientation_msgs, double angle);
    
    geometry_msgs::Quaternion rotate_yaw(geometry_msgs::Quaternion orientation_msgs, double angle);
    
    
    // public parameters
    std::string tf_target_str;
    
};

#endif