wam_move_arm_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 _wam_move_arm_alg_h_
#define _wam_move_arm_alg_h_

#include <iri_wam_move_arm/WamMoveArmConfig.h>
#include "mutex.h"
#include <arm_navigation_msgs/PositionConstraint.h>
#include <arm_navigation_msgs/OrientationConstraint.h>
#include <arm_navigation_msgs/JointConstraint.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <geometry_msgs/PoseStamped.h>
#include <arm_navigation_msgs/MoveArmAction.h>
#include <arm_navigation_msgs/convert_messages.h>


//include wam_move_arm_alg main library

class WamMoveArmAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef iri_wam_move_arm::WamMoveArmConfig Config;

    Config config_;
        
    WamMoveArmAlgorithm(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 wam_move_arm_alg interface methods to retrieve and set
    // the driver parameters

    ~WamMoveArmAlgorithm(void);
    
    double tool_x;
    double tool_y;
    double tool_z;
    std::string link_name;
    void reconfigure_point(arm_navigation_msgs::PositionConstraint &position_constraint);
    void reconfigure_points(std::vector<arm_navigation_msgs::PositionConstraint> & position_constraint);
    void calculateFK(const std::vector<double> &pos,geometry_msgs::PoseStamped& pose);  
    void reconfigure_joint(std::vector<arm_navigation_msgs::JointConstraint>& joint_constraints,arm_navigation_msgs::MoveArmGoal& goal);  
    void reconfigure(arm_navigation_msgs::MoveArmGoal& goal);
    void makeMsg(const geometry_msgs::PoseStamped &pose, arm_navigation_msgs::MoveArmGoal& goal, const std::string& link);
    bool hasPose(const arm_navigation_msgs::MoveArmGoal& goal);
    bool hasJoint(const arm_navigation_msgs::MoveArmGoal& goal);
    
};

#endif