trajectory_monitor.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/planning_scene_monitor/trajectory_monitor.h>
00038 #include <moveit/trajectory_processing/trajectory_tools.h>
00039 #include <ros/rate.h>
00040 #include <limits>
00041 
00042 planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor,
00043                                                              double sampling_frequency)
00044   : current_state_monitor_(state_monitor)
00045   , sampling_frequency_(5.0)
00046   , trajectory_(current_state_monitor_->getRobotModel(), "")
00047 {
00048   setSamplingFrequency(sampling_frequency);
00049 }
00050 
00051 planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor()
00052 {
00053   stopTrajectoryMonitor();
00054 }
00055 
00056 void planning_scene_monitor::TrajectoryMonitor::setSamplingFrequency(double sampling_frequency)
00057 {
00058   if (sampling_frequency <= std::numeric_limits<double>::epsilon())
00059     ROS_ERROR("The sampling frequency for trajectory states should be positive");
00060   else
00061     sampling_frequency_ = sampling_frequency;
00062 }
00063 
00064 bool planning_scene_monitor::TrajectoryMonitor::isActive() const
00065 {
00066   return static_cast<bool>(record_states_thread_);
00067 }
00068 
00069 void planning_scene_monitor::TrajectoryMonitor::startTrajectoryMonitor()
00070 {
00071   if (!record_states_thread_)
00072   {
00073     record_states_thread_.reset(new boost::thread(boost::bind(&TrajectoryMonitor::recordStates, this)));
00074     ROS_DEBUG("Started trajectory monitor");
00075   }
00076 }
00077 
00078 void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor()
00079 {
00080   if (record_states_thread_)
00081   {
00082     boost::scoped_ptr<boost::thread> copy;
00083     copy.swap(record_states_thread_);
00084     copy->join();
00085     ROS_DEBUG("Stopped trajectory monitor");
00086   }
00087 }
00088 
00089 void planning_scene_monitor::TrajectoryMonitor::clearTrajectory()
00090 {
00091   bool restart = isActive();
00092   if (restart)
00093     stopTrajectoryMonitor();
00094   trajectory_.clear();
00095   if (restart)
00096     startTrajectoryMonitor();
00097 }
00098 
00099 void planning_scene_monitor::TrajectoryMonitor::recordStates()
00100 {
00101   if (!current_state_monitor_)
00102     return;
00103 
00104   ros::Rate rate(sampling_frequency_);
00105 
00106   while (record_states_thread_)
00107   {
00108     rate.sleep();
00109     std::pair<robot_state::RobotStatePtr, ros::Time> state = current_state_monitor_->getCurrentStateAndTime();
00110     if (trajectory_.empty())
00111     {
00112       trajectory_.addSuffixWayPoint(state.first, 0.0);
00113       trajectory_start_time_ = state.second;
00114       last_recorded_state_time_ = state.second;
00115     }
00116     else
00117     {
00118       trajectory_.addSuffixWayPoint(state.first, (state.second - last_recorded_state_time_).toSec());
00119       last_recorded_state_time_ = state.second;
00120     }
00121     if (state_add_callback_)
00122       state_add_callback_(state.first, state.second);
00123   }
00124 }


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jan 17 2018 03:32:07