00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _tibi_dabo_arm_kinematics_alg_node_h_ 00026 #define _tibi_dabo_arm_kinematics_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "tibi_dabo_arm_kinematics_alg.h" 00030 #include "segway_arm_kinematics.h" 00031 #include <vector> 00032 00033 // [publisher subscriber headers] 00034 00035 // [service client headers] 00036 #include <kinematics_msgs/GetPositionIK.h> 00037 #include <kinematics_msgs/GetKinematicSolverInfo.h> 00038 #include <kinematics_msgs/GetPositionFK.h> 00039 00040 // [action server client headers] 00041 00048 class TibiDaboArmKinematicsAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboArmKinematicsAlgorithm> 00049 { 00050 private: 00051 //my stuff 00052 CSegwayArmKinematics *arm; 00053 std::vector<double> angles, pose; 00054 float arm_length; 00055 std::string arm_id; 00056 00057 // [publisher attributes] 00058 00059 // [subscriber attributes] 00060 00061 // [service attributes] 00062 ros::ServiceServer GetPositionIK_server_; 00063 bool GetPositionIKCallback(kinematics_msgs::GetPositionIK::Request &req, kinematics_msgs::GetPositionIK::Response &res); 00064 CMutex GetPositionIK_mutex_; 00065 ros::ServiceServer GetKinematicSolverInfo_server_; 00066 bool GetKinematicSolverInfoCallback(kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res); 00067 CMutex GetKinematicSolverInfo_mutex_; 00068 ros::ServiceServer GetPositionFK_server_; 00069 bool GetPositionFKCallback(kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res); 00070 CMutex GetPositionFK_mutex_; 00071 00072 // [client attributes] 00073 00074 // [action server attributes] 00075 00076 // [action client attributes] 00077 00078 public: 00085 TibiDaboArmKinematicsAlgNode(void); 00086 00093 ~TibiDaboArmKinematicsAlgNode(void); 00094 00095 protected: 00108 void mainNodeThread(void); 00109 00122 void node_config_update(Config &config, uint32_t level); 00123 00130 void addNodeDiagnostics(void); 00131 00132 // [diagnostic functions] 00133 00134 // [test functions] 00135 }; 00136 00137 #endif