trajectory_execution_monitor.h

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#include <ros/ros.h>
#include <boost/function.hpp>
#include <trajectory_msgs/JointTrajectory.h>
#include <trajectory_execution_monitor/trajectory_recorder.h>
#include <trajectory_execution_monitor/trajectory_controller_handler.h>
#include <planning_environment/models/collision_models.h>

namespace trajectory_execution_monitor
{

struct TrajectoryExecutionRequest {
  
  std::string group_name_;
  std::string controller_name_;
  std::string recorder_name_;

  bool monitor_overshoot_;
  double max_overshoot_velocity_epsilon_;
  ros::Duration min_overshoot_time_;
  ros::Duration max_overshoot_time_;

  bool failure_ok_;
  bool test_for_close_enough_;
  double max_joint_distance_;
  double failure_time_factor_;
  
  trajectory_msgs::JointTrajectory trajectory_;
  boost::function<void(const std::string& group_name)> callback_function_;

  TrajectoryExecutionRequest();
};

enum TrajectoryExecutionResult {
  NOT_ATTEMPTED = 0,
  SUCCEEDED,
  NO_RECORDER,
  NO_HANDLER,
  ALREADY_AT_GOAL,
  HANDLER_FAILED_ENTIRELY,
  HANDLER_REPORTS_FAILURE,
  HANDLER_REPORTS_FAILURE_BUT_OK,
  HANDLER_REPORTS_FAILURE_BUT_CLOSE_ENOUGH
};

struct TrajectoryExecutionData {

  TrajectoryExecutionResult result_;

  trajectory_msgs::JointTrajectory recorded_trajectory_;
  trajectory_msgs::JointTrajectory overshoot_trajectory_;

  ros::Duration time_;
  ros::Duration overshoot_time_;
  double angular_distance_;                                     // recorded
};

struct TrajectoryExecutionDataVector : public std::vector<TrajectoryExecutionData> 
{

  void reset() {
    clear();
    last_attempted_trajectory_index_ = 0;
  }

  unsigned int last_attempted_trajectory_index_;
};

class TrajectoryExecutionMonitor
{

public:
  
  TrajectoryExecutionMonitor() : cm_("robot_description"){};

  void addTrajectoryRecorder(boost::shared_ptr<TrajectoryRecorder>& trajectory_recorder);

  void addTrajectoryControllerHandler(boost::shared_ptr<TrajectoryControllerHandler>& trajectory_controller_handler);

  void executeTrajectories(const std::vector<TrajectoryExecutionRequest>& to_execute,
                           const boost::function<bool(TrajectoryExecutionDataVector)>& done_callback);

protected:
  
  bool sendTrajectory(const TrajectoryExecutionRequest& ter);
  
  void trajectoryFinishedCallbackFunction( TrajectoryControllerState controller_state );

  bool closeEnough(const TrajectoryExecutionRequest& ter,
                   const TrajectoryExecutionData& ted);
  
  void compareLastRecordedToStart(const TrajectoryExecutionRequest& last_ter,
                                  const TrajectoryExecutionRequest& next_ter,
                                  const TrajectoryExecutionData& ted);


  boost::function<bool(TrajectoryExecutionDataVector)> result_callback_;
  TrajectoryExecutionDataVector execution_result_vector_;
  const std::vector<TrajectoryExecutionRequest>* execution_data_;
  unsigned int current_trajectory_index_;

  boost::shared_ptr<TrajectoryControllerHandler> last_requested_handler_;
  std::map<std::string, boost::shared_ptr<TrajectoryRecorder> > trajectory_recorder_map_;
  std::map<std::string, boost::shared_ptr<TrajectoryControllerHandler> > trajectory_controller_handler_map_;

  planning_environment::CollisionModels cm_;

};

}