hand_description.h

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#ifndef _HAND_DESCRIPTION_H_
#define _HAND_DESCRIPTION_H_

#include <ros/ros.h>

#include <cmath>

#include <geometry_msgs/Vector3.h>

#include "object_manipulator/tools/exceptions.h"

#include "configuration_loader.h"

namespace object_manipulator {

  // aleeper: I sub-classed these parameter loading classes so we have a common class to work from.
  //          Hopefully it keeps things cleaner.

  class HandDescription : public ConfigurationLoader
{
 private:

 public:
 HandDescription() {}

  inline std::string gripperFrame(std::string arm_name)
  {
    return getStringParam("/hand_description/" + arm_name + "/hand_frame");
  }

  inline std::string robotFrame(std::string arm_name)
  {
    return getStringParam("/hand_description/" + arm_name + "/robot_frame");
  }
  
  inline std::string attachedName(std::string arm_name)
  {
    return getStringParam("/hand_description/" + arm_name + "/attached_objects_name");
  }
  
  inline std::string attachLinkName(std::string arm_name)
  {
    return getStringParam("/hand_description/" + arm_name + "/attach_link");
  }
  
  inline std::string gripperCollisionName(std::string arm_name)
  {
    return getStringParam("/hand_description/" + arm_name + "/hand_group_name");
  }
  
  inline std::string armGroup(std::string arm_name)
  {
    return getStringParam("/hand_description/" + arm_name + "/arm_group_name");    
  }
  
  inline std::string handDatabaseName(std::string arm_name)
  {
    return getStringParam("/hand_description/" + arm_name + "/hand_database_name");
  }
  
  inline std::vector<std::string> handJointNames(std::string arm_name)
  {
    return getVectorParam("/hand_description/" + arm_name + "/hand_joints");
  }
  
  inline std::vector<std::string> gripperTouchLinkNames(std::string arm_name)
  {
    return getVectorParam("/hand_description/" + arm_name + "/hand_touch_links");
  }
  
  inline std::vector<std::string> fingertipLinks(std::string arm_name)
  {
    return getVectorParam("/hand_description/" + arm_name + "/hand_fingertip_links");
  }

  inline geometry_msgs::Vector3 approachDirection(std::string arm_name)
  {
    std::string name = "/hand_description/" + arm_name + "/hand_approach_direction";
    std::vector<double> values = getVectorDoubleParam(name);
    if ( values.size() != 3 )  throw BadParamException(name);
    double length = sqrt( values[0]*values[0] + values[1]*values[1] + values[2]*values[2] );
    if ( fabs(length) < 1.0e-5 ) throw BadParamException(name);
    geometry_msgs::Vector3 app;
    app.x = values[0] / length;
    app.y = values[1] / length;
    app.z = values[2] / length;
    return app;
  }

  inline std::vector<std::string> armJointNames(std::string arm_name)
  {
    return getVectorParam("/hand_description/" + arm_name + "/arm_joints");
  }

};

inline HandDescription& handDescription()
{
  static HandDescription hand_description;
  return hand_description;
}

} //namespace object_manipulator

#endif