cob_footprint_observer.h
Go to the documentation of this file.
00001 /****************************************************************
00002  *
00003  * Copyright (c) 2012
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
00006  *
00007  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00008  *
00009  * Project name: care-o-bot
00010  * ROS stack name: cob_navigation
00011  * ROS package name: cob_footprint_observer
00012  *                
00013  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00014  *      
00015  * Author: Matthias Gruhler, email: Matthias.Gruhler@ipa.fraunhofer.de
00016  *
00017  * Date of creation: 27.02.2012
00018  *
00019  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00020  *
00021  * Redistribution and use in source and binary forms, with or without
00022  * modification, are permitted provided that the following conditions are met:
00023  *
00024  *   * Redistributions of source code must retain the above copyright
00025  *     notice, this list of conditions and the following disclaimer.
00026  *   * Redistributions in binary form must reproduce the above copyright
00027  *     notice, this list of conditions and the following disclaimer in the
00028  *     documentation and/or other materials provided with the distribution.
00029  *   * Neither the name of the Fraunhofer Institute for Manufacturing 
00030  *     Engineering and Automation (IPA) nor the names of its
00031  *     contributors may be used to endorse or promote products derived from
00032  *     this software without specific prior written permission.
00033  *
00034  * This program is free software: you can redistribute it and/or modify
00035  * it under the terms of the GNU Lesser General Public License LGPL as 
00036  * published by the Free Software Foundation, either version 3 of the 
00037  * License, or (at your option) any later version.
00038  * 
00039  * This program is distributed in the hope that it will be useful,
00040  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00041  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00042  * GNU Lesser General Public License LGPL for more details.
00043  * 
00044  * You should have received a copy of the GNU Lesser General Public 
00045  * License LGPL along with this program. 
00046  * If not, see <http://www.gnu.org/licenses/>.
00047  *
00048  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00049  * @file  cob_footprint_observer.h
00050  * @brief  observes the footprint of care-o-bot
00051  *
00052  * Generates rectangular footprint of care-o-bot depending on setup
00053  * of tray and arm.
00054  *
00055  ****************************************************************/
00056 #ifndef COB_FOOTPRINT_OBSERVER_H
00057 #define COB_FOOTPRINT_OBSERVER_H
00058 
00059 //##################
00060 //#### includes ####
00061 
00062 // ROS includes
00063 #include <ros/ros.h>
00064 #include <XmlRpc.h>
00065 
00066 // message includes
00067 #include <geometry_msgs/Point.h>
00068 #include <geometry_msgs/PolygonStamped.h>
00069 #include <geometry_msgs/Vector3.h>
00070 
00071 #include <tf/transform_listener.h>
00072 
00073 #include <boost/tokenizer.hpp>
00074 #include <boost/foreach.hpp>
00075 #include <boost/algorithm/string.hpp>
00076 
00077 #include <cob_footprint_observer/GetFootprint.h>
00083 class FootprintObserver
00084 {
00085   public:
00089     FootprintObserver();
00093     ~FootprintObserver();
00094 
00098     void checkFootprint();
00099     
00106     bool getFootprintCB(cob_footprint_observer::GetFootprint::Request &req, cob_footprint_observer::GetFootprint::Response &resp);
00107 
00108     // public members
00109     ros::NodeHandle nh_;
00110     ros::Publisher topic_pub_footprint_;
00111     ros::ServiceServer srv_get_footprint_;
00112 
00113   private:
00119     std::vector<geometry_msgs::Point> loadRobotFootprint(ros::NodeHandle node);
00120 
00124     void publishFootprint();
00125 
00131     double sign(double x);
00132 
00133     // private members
00134     std::vector<geometry_msgs::Point> robot_footprint_;
00135     double epsilon_;
00136     double footprint_front_initial_, footprint_rear_initial_, footprint_left_initial_, footprint_right_initial_;
00137     double footprint_front_, footprint_rear_, footprint_left_, footprint_right_;
00138     tf::TransformListener tf_listener_;
00139     std::string frames_to_check_;
00140     std::string robot_base_frame_;
00141 
00142     pthread_mutex_t m_mutex;
00143 
00144     ros::Time last_tf_missing_;
00145     unsigned int times_warned_;
00146 };
00147 
00148 #endif


cob_footprint_observer
Author(s): Matthias Gruhler
autogenerated on Sun Oct 5 2014 23:03:46