pr2_base_trajectory_action.h

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/*
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#ifndef JOINT_TRAJECTORY_ACTION_CONTROLLER_H__
#define JOINT_TRAJECTORY_ACTION_CONTROLLER_H__

#include <vector>

#include <boost/scoped_ptr.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread/condition.hpp>
#include <ros/node_handle.h>

#include <actionlib/server/action_server.h>

#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>

class BaseTrajectoryActionController
{
  typedef actionlib::ActionServer<pr2_controllers_msgs::JointTrajectoryAction> JTAS;
  typedef JTAS::GoalHandle GoalHandle;

  // dummy class
  class JointState {
  public:
    std::string name;
    double position_, velocity_;
    double max_abs_velocity_;
    double commanded_velocity_;
    double commanded_effort_;// same unit as velocity
  };

public:

  BaseTrajectoryActionController(const ros::NodeHandle& n);
  ~BaseTrajectoryActionController();

  bool init();

  void starting();
  void update();

private:
  bool use_pid;
  JointState x_joint_,y_joint_,z_joint_;
  ros::Time last_time_, robot_time_;
  std::vector<JointState*> joints_;
  double goal_time_constraint_;
  double goal_threshold_;
  double stopped_velocity_tolerance_;
  std::vector<double> goal_constraints_;
  std::vector<double> trajectory_constraints_;

  ros::NodeHandle node_;

  void commandCB(const trajectory_msgs::JointTrajectory::ConstPtr &msg);
  ros::Publisher pub_command_;

  void odomCB(const nav_msgs::Odometry::ConstPtr& msg);
  ros::Subscriber sub_odom_;

  boost::scoped_ptr<JTAS> action_server_;
  void goalCB(GoalHandle gh);
  void cancelCB(GoalHandle gh);
  ros::Timer goal_handle_timer_;

  boost::shared_ptr<GoalHandle> active_goal_;

  void commandTrajectory(const trajectory_msgs::JointTrajectory::ConstPtr &traj, boost::shared_ptr<GoalHandle> gh = boost::shared_ptr<GoalHandle>((GoalHandle*)NULL));

  // coef[0] + coef[1]*t + ... + coef[5]*t^5
  struct Spline
  {
    std::vector<double> coef;

    Spline() : coef(6, 0.0) {}
  };

  struct Segment
  {
    double start_time;
    double duration;
    std::vector<Spline> splines;

    boost::shared_ptr<GoalHandle> gh;
  };
  typedef std::vector<Segment> SpecifiedTrajectory;

  boost::shared_ptr<const SpecifiedTrajectory> current_trajectory_;

  // Holds the trajectory that we are currently following.  The mutex
  // guarding current_trajectory_ is locked from within realtime, so
  // it may only be locked for a bounded duration.
  //boost::shared_ptr<const SpecifiedTrajectory> current_trajectory_;
  //boost::recursive_mutex current_trajectory_lock_RT_;

  std::vector<double> q, qd, qdd;  // Preallocated in init
  std::vector<double> e, ed, edd;  // Preallocated in init

  // Samples, but handling time bounds.  When the time is past the end
  // of the spline duration, the position is the last valid position,
  // and the derivatives are all 0.
  static void sampleSplineWithTimeBounds(const std::vector<double>& coefficients, double duration, double time,
                                         double& position, double& velocity, double& acceleration);
};


#endif