sensor_manager.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_SENSOR_MANAGER_
00038 #define MOVEIT_MOVEIT_SENSOR_MANAGER_
00039 
00040 #include <vector>
00041 #include <string>
00042 #include <moveit/macros/class_forward.h>
00043 #include <moveit_msgs/RobotTrajectory.h>
00044 #include <geometry_msgs/PointStamped.h>
00045 
00047 namespace moveit_sensor_manager
00048 {
00050 struct SensorInfo
00051 {
00052   SensorInfo() : min_dist(0.), max_dist(0.0), x_angle(0.0), y_angle(0.0)
00053   {
00054   }
00055 
00057   std::string origin_frame;
00058 
00059   /* Define the frustum (or approximation of the frustum) */
00060 
00062   double min_dist;
00063 
00065   double max_dist;
00066 
00068   double x_angle;
00069 
00071   double y_angle;
00072 };
00073 
00074 MOVEIT_CLASS_FORWARD(MoveItSensorManager);
00075 
00076 class MoveItSensorManager
00077 {
00078 public:
00079   MoveItSensorManager()
00080   {
00081   }
00082 
00083   virtual ~MoveItSensorManager()
00084   {
00085   }
00086 
00088   virtual void getSensorsList(std::vector<std::string>& names) const = 0;
00089 
00091   virtual SensorInfo getSensorInfo(const std::string& name) const = 0;
00092 
00094   virtual bool hasSensors() const = 0;
00095 
00102   virtual bool pointSensorTo(const std::string& name, const geometry_msgs::PointStamped& target,
00103                              moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
00104 };
00105 }
00106 
00107 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Apr 20 2018 03:31:11