00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeusen */ 00036 00037 #ifndef ACTION_DETECT_HANDLE_H 00038 #define ACTION_DETECT_HANDLE_H 00039 00040 00041 #include <ros/ros.h> 00042 #include <door_msgs/Door.h> 00043 #include <door_msgs/DoorGoal.h> 00044 #include <door_msgs/DoorAction.h> 00045 #include <pr2_laser_snapshotter/TiltLaserSnapshotAction.h> 00046 #include <actionlib/server/simple_action_server.h> 00047 #include <actionlib/client/simple_action_client.h> 00048 #include <tf/transform_listener.h> 00049 00050 namespace door_handle_detector{ 00051 00052 00053 class DetectHandleAction 00054 { 00055 public: 00056 DetectHandleAction(tf::TransformListener& tf); 00057 ~DetectHandleAction(); 00058 00059 private: 00060 void execute(const door_msgs::DoorGoalConstPtr& goal); 00061 void laserDetectionFunction(const door_msgs::Door& door_in, door_msgs::Door* door_out, bool* success); 00062 bool laserDetection(const door_msgs::Door& door_in, door_msgs::Door& door_out); 00063 void cameraDetectionFunction(const door_msgs::Door& door, door_msgs::Door* door_out, bool* success); 00064 bool cameraDetection(const door_msgs::Door& door, door_msgs::Door& door_out); 00065 00066 ros::Publisher pub_; 00067 tf::TransformListener& tf_; 00068 00069 actionlib::SimpleActionServer<door_msgs::DoorAction> action_server_; 00070 actionlib::SimpleActionClient<pr2_laser_snapshotter::TiltLaserSnapshotAction> laserSnapshotActionClient_; 00071 door_msgs::DoorResult action_result_; 00072 00073 const static double handle_laser_camera_distance_tol = 0.1; 00074 }; 00075 00076 } 00077 #endif