trajectory.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Mario Prats */

#ifndef BT_TRAJECTORY
#define BT_TRAJECTORY

#ifndef Q_MOC_RUN
#include <frame_marker.h>
#endif

namespace benchmark_tool
{

/* Implements functionality to create and manage straight and arc trajectories with interactive markers
 */
class Trajectory: public QObject
{
  Q_OBJECT

public Q_SLOTS:
  void trajectoryMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback &feedback);
  void handMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback &feedback);
  void startMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback &feedback);
  void endMarkerFeedback(visualization_msgs::InteractiveMarkerFeedback &feedback);

public:
  static const int TRAJECTORY_SET_START_POSE = 1;
  static const int TRAJECTORY_SET_END_POSE = 2;
  static const int TRAJECTORY_EDIT_CONTROL_FRAME = 3;
  static const int TRAJECTORY_FIX_CONTROL_FRAME = 4;

  static const std::string TRAJECTORY_SET_START_POSE_STRING;
  static const std::string TRAJECTORY_SET_END_POSE_STRING;
  static const std::string TRAJECTORY_EDIT_CONTROL_FRAME_STRING;
  static const std::string TRAJECTORY_FIX_CONTROL_FRAME_STRING;

  GripperMarkerPtr control_marker;
  GripperMarkerPtr hand_marker;
  GripperMarkerPtr start_marker, end_marker;
  std::vector<GripperMarkerPtr> waypoint_markers;

  Eigen::Affine3d control_marker_start_pose; // The control marker pose corresponding to the start marker
  Eigen::Affine3d control_marker_end_pose;   // The control marker pose corresponding to the end marker

  Trajectory(const robot_state::RobotState& robot_state, Ogre::SceneNode *parent_node, rviz::DisplayContext *context, const std::string &name,
             const std::string &frame_id, const robot_interaction::RobotInteraction::EndEffector &eef, const geometry_msgs::Pose &pose, double scale,
             const GripperMarker::GripperMarkerState &state, unsigned int nwaypoints, bool is_selected = true,
             bool visible_x = true, bool visible_y = true, bool visible_z = true);

  void setControlMarker(const GripperMarkerPtr control_marker);

  void setNumberOfWaypoints(unsigned int n)
  {
    nwaypoints_ = n;
    if (waypoint_markers.size())
    {
      rebuildWayPointMarkers();
    }
  }

  void hide()
  {
    if (control_marker)
      control_marker->hide();
    if (hand_marker)
      hand_marker->hide();
    if (start_marker)
      start_marker->hide();
    if (end_marker)
      end_marker->hide();
    for (std::vector<GripperMarkerPtr>::iterator it = waypoint_markers.begin(); it != waypoint_markers.end(); ++it)
    {
      (*it)->hide();
    }
  }

  void show(Ogre::SceneNode *scene_node, rviz::DisplayContext *context)
  {
    if (control_marker)
      control_marker->show(scene_node, context);
    if (hand_marker)
      hand_marker->show(scene_node, context);
    if (start_marker)
      start_marker->show(scene_node, context);
    if (end_marker)
      end_marker->show(scene_node, context);
    for (std::vector<GripperMarkerPtr>::iterator it = waypoint_markers.begin(); it != waypoint_markers.end(); ++it)
    {
      (*it)->show(scene_node, context);
    }
  }

  ~Trajectory() {}

protected:
  void createControlMarker(const robot_state::RobotState& robot_state, Ogre::SceneNode *parent_node, rviz::DisplayContext *context, const std::string &name,
                         const std::string &frame_id, const robot_interaction::RobotInteraction::EndEffector &eef, const geometry_msgs::Pose &pose, double scale,
                         const GripperMarker::GripperMarkerState &state, bool is_selected = true,
                         bool visible_x = true, bool visible_y = true, bool visible_z = true);

  void createHandMarker();
  void createStartMarker();
  void createEndMarker();

  void connectControlMarker();
  void connectHandMarker();
  void connectStartMarker();
  void connectEndMarker();

  void rebuildWayPointMarkers();

private:
  void editControlFrame();
  void fixControlFrame();

  Eigen::Affine3d hand_marker_start_pose;
  Eigen::Affine3d control_marker_drag_start_pose;

  bool dragging_;

  unsigned int nwaypoints_;

  typedef enum {CONTROL_MARKER_FLOATING, CONTROL_MARKER_FIXED} ControlMarkerModeType;
  ControlMarkerModeType control_marker_mode_;
};

typedef boost::shared_ptr<Trajectory> TrajectoryPtr;

}

#endif