play_motion.h

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2013, PAL Robotics, S.L.
 *  All rights reserved.
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
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#ifndef REACHPOSE_H
#define REACHPOSE_H

#include <string>
#include <list>
#include <map>
#include <ros/ros.h>
#include <boost/foreach.hpp>

#include "play_motion/datatypes.h"
#include "play_motion/controller_updater.h"
#include "play_motion_msgs/PlayMotionResult.h"

namespace sensor_msgs
{ ROS_DECLARE_MESSAGE(JointState); }

namespace play_motion
{
  typedef play_motion_msgs::PlayMotionResult PMR;

  class MoveJointGroup;
  class ApproachPlanner;

  class PMException : public ros::Exception
  {
  public:
    PMException(const std::string& what, int error_code = PMR::OTHER_ERROR)
      : ros::Exception(what)
    { error_code_ = error_code; }

    int error_code() const
    { return error_code_; }

  private:
    int error_code_;
  };

  class PlayMotion
  {
  public:
    class Goal;
    typedef boost::shared_ptr<Goal> GoalHandle;
  private:
    typedef boost::shared_ptr<MoveJointGroup>        MoveJointGroupPtr;
    typedef std::list<MoveJointGroupPtr>             ControllerList;
    typedef boost::function<void(const GoalHandle&)> Callback;
    typedef boost::shared_ptr<ApproachPlanner>       ApproachPlannerPtr;

  public:
    class Goal
    {
      friend class PlayMotion;

    public:
      int            error_code;
      std::string    error_string;
      int            active_controllers;
      Callback       cb;
      ControllerList controllers;
      bool           canceled;

      ~Goal();
      void cancel();
      void addController(const MoveJointGroupPtr& ctrl);

    private:
      Goal(const Callback& cbk);
    };

    PlayMotion(ros::NodeHandle& nh);

    bool run(const std::string& motion_name,
             bool               skip_planning,
             GoalHandle&        gh,
             const Callback&    cb);

  private:
    void jointStateCb(const sensor_msgs::JointStatePtr& msg);

    bool getGroupTraj(MoveJointGroupPtr move_joint_group,
                      const JointNames& motion_joints,
                      const Trajectory& motion_points, Trajectory& traj_group);
    void getMotionJoints(const std::string& motion_name, JointNames& motion_joints);
    void getMotionPoints(const std::string& motion_name, Trajectory& motion_points);

    ControllerList getMotionControllers(const JointNames& motion_joints);
    void updateControllersCb(const ControllerUpdater::ControllerStates& states,
                             const ControllerUpdater::ControllerJoints& joints);

    ros::NodeHandle                  nh_;
    ControllerList                   move_joint_groups_;
    std::map<std::string, double>    joint_states_;
    ros::Subscriber                  joint_states_sub_;
    ControllerUpdater                ctrlr_updater_;
    ApproachPlannerPtr               approach_planner_;
  };
}

#endif