controller_manager.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_CONTROLLER_MANAGER_
00038 #define MOVEIT_MOVEIT_CONTROLLER_MANAGER_
00039 
00040 #include <vector>
00041 #include <string>
00042 #include <boost/shared_ptr.hpp>
00043 #include <moveit_msgs/RobotTrajectory.h>
00044 #include <moveit/macros/class_forward.h>
00045 
00047 namespace moveit_controller_manager
00048 {
00050 struct ExecutionStatus
00051 {
00052   enum Value
00053   {
00054     UNKNOWN,
00055     RUNNING,
00056     SUCCEEDED,
00057     PREEMPTED,
00058     TIMED_OUT,
00059     ABORTED,
00060     FAILED
00061   };
00062 
00063   ExecutionStatus(Value value = UNKNOWN) : status_(value)
00064   {
00065   }
00066 
00067   operator Value() const
00068   {
00069     return status_;
00070   }
00071 
00072   operator bool() const
00073   {
00074     return status_ == SUCCEEDED;
00075   }
00076 
00078   std::string asString() const
00079   {
00080     switch (status_)
00081     {
00082       case RUNNING:
00083         return "RUNNING";
00084       case SUCCEEDED:
00085         return "SUCCEEDED";
00086       case PREEMPTED:
00087         return "PREEMPTED";
00088       case TIMED_OUT:
00089         return "TIMED_OUT";
00090       case ABORTED:
00091         return "ABORTED";
00092       case FAILED:
00093         return "FAILED";
00094       default:
00095         return "UNKNOWN";
00096     }
00097   }
00098 
00099 private:
00100   Value status_;
00101 };
00102 
00103 MOVEIT_CLASS_FORWARD(MoveItControllerHandle);
00104 
00106 class MoveItControllerHandle
00107 {
00108 public:
00110   MoveItControllerHandle(const std::string& name) : name_(name)
00111   {
00112   }
00113 
00114   virtual ~MoveItControllerHandle()
00115   {
00116   }
00117 
00119   const std::string& getName() const
00120   {
00121     return name_;
00122   }
00123 
00127   virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& trajectory) = 0;
00128 
00131   virtual bool cancelExecution() = 0;
00132 
00136   virtual bool waitForExecution(const ros::Duration& timeout = ros::Duration(0)) = 0;
00137 
00139   virtual ExecutionStatus getLastExecutionStatus() = 0;
00140 
00141 protected:
00142   std::string name_;
00143 };
00144 
00145 MOVEIT_CLASS_FORWARD(MoveItControllerManager);
00146 
00154 class MoveItControllerManager
00155 {
00156 public:
00159   struct ControllerState
00160   {
00161     ControllerState() : active_(false), default_(false)
00162     {
00163     }
00164 
00167     bool active_;
00168 
00172     bool default_;
00173   };
00174 
00176   MoveItControllerManager()
00177   {
00178   }
00179 
00180   virtual ~MoveItControllerManager()
00181   {
00182   }
00183 
00186   virtual MoveItControllerHandlePtr getControllerHandle(const std::string& name) = 0;
00187 
00189   virtual void getControllersList(std::vector<std::string>& names) = 0;
00190 
00194   virtual void getActiveControllers(std::vector<std::string>& names) = 0;
00195 
00198   virtual void getControllerJoints(const std::string& name, std::vector<std::string>& joints) = 0;
00199 
00201   virtual ControllerState getControllerState(const std::string& name) = 0;
00202 
00204   virtual bool switchControllers(const std::vector<std::string>& activate,
00205                                  const std::vector<std::string>& deactivate) = 0;
00206 };
00207 }
00208 
00209 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45