current_state_monitor.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_
00038 #define MOVEIT_PLANNING_SCENE_MONITOR_CURRENT_STATE_MONITOR_
00039 
00040 #include <ros/ros.h>
00041 #include <tf/tf.h>
00042 #include <moveit/robot_state/robot_state.h>
00043 #include <sensor_msgs/JointState.h>
00044 #include <boost/function.hpp>
00045 #include <boost/shared_ptr.hpp>
00046 #include <boost/thread/mutex.hpp>
00047 
00048 namespace planning_scene_monitor
00049 {
00050 typedef boost::function<void(const sensor_msgs::JointStateConstPtr& joint_state)> JointStateUpdateCallback;
00051 
00054 class CurrentStateMonitor
00055 {
00056 public:
00062   CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model, const boost::shared_ptr<tf::Transformer>& tf);
00063 
00069   CurrentStateMonitor(const robot_model::RobotModelConstPtr& robot_model, const boost::shared_ptr<tf::Transformer>& tf,
00070                       ros::NodeHandle nh);
00071 
00072   ~CurrentStateMonitor();
00073 
00077   void startStateMonitor(const std::string& joint_states_topic = "joint_states");
00078 
00081   void stopStateMonitor();
00082 
00084   bool isActive() const;
00085 
00087   const robot_model::RobotModelConstPtr& getRobotModel() const
00088   {
00089     return robot_model_;
00090   }
00091 
00093   std::string getMonitoredTopic() const;
00094 
00098   bool haveCompleteState() const;
00099 
00104   bool haveCompleteState(const ros::Duration& age) const;
00105 
00110   bool haveCompleteState(std::vector<std::string>& missing_joints) const;
00111 
00117   bool haveCompleteState(const ros::Duration& age, std::vector<std::string>& missing_states) const;
00118 
00121   robot_state::RobotStatePtr getCurrentState() const;
00122 
00124   void setToCurrentState(robot_state::RobotState& upd) const;
00125 
00127   ros::Time getCurrentStateTime() const;
00128 
00131   std::pair<robot_state::RobotStatePtr, ros::Time> getCurrentStateAndTime() const;
00132 
00135   std::map<std::string, double> getCurrentStateValues() const;
00136 
00139   bool waitForCurrentState(double wait_time) const;
00140 
00143   bool waitForCurrentState(const std::string& group, double wait_time) const;
00144 
00146   const ros::Time& getMonitorStartTime() const
00147   {
00148     return monitor_start_time_;
00149   }
00150 
00152   void addUpdateCallback(const JointStateUpdateCallback& fn);
00153 
00155   void clearUpdateCallbacks();
00156 
00161   void setBoundsError(double error)
00162   {
00163     error_ = (error > 0) ? error : -error;
00164   }
00165 
00170   double getBoundsError() const
00171   {
00172     return error_;
00173   }
00174 
00175 private:
00176   void jointStateCallback(const sensor_msgs::JointStateConstPtr& joint_state);
00177   bool isPassiveOrMimicDOF(const std::string& dof) const;
00178 
00179   ros::NodeHandle nh_;
00180   boost::shared_ptr<tf::Transformer> tf_;
00181   robot_model::RobotModelConstPtr robot_model_;
00182   robot_state::RobotState robot_state_;
00183   std::map<std::string, ros::Time> joint_time_;
00184   bool state_monitor_started_;
00185   ros::Time monitor_start_time_;
00186   double error_;
00187   ros::Subscriber joint_state_subscriber_;
00188   ros::Time current_state_time_;
00189   ros::Time last_tf_update_;
00190 
00191   mutable boost::mutex state_update_lock_;
00192   std::vector<JointStateUpdateCallback> update_callbacks_;
00193 };
00194 
00195 MOVEIT_CLASS_FORWARD(CurrentStateMonitor);
00196 }
00197 
00198 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Dec 26 2017 03:33:56