00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, 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_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_ 00038 #define MOVEIT_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_ 00039 00040 #include <moveit/macros/class_forward.h> 00041 #include <moveit/planning_scene_monitor/current_state_monitor.h> 00042 #include <moveit/robot_trajectory/robot_trajectory.h> 00043 #include <boost/thread.hpp> 00044 00045 namespace planning_scene_monitor 00046 { 00047 typedef boost::function<void(const robot_state::RobotStateConstPtr& state, const ros::Time& stamp)> 00048 TrajectoryStateAddedCallback; 00049 00050 MOVEIT_CLASS_FORWARD(TrajectoryMonitor); 00051 00054 class TrajectoryMonitor 00055 { 00056 public: 00059 TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 5.0); 00060 00061 ~TrajectoryMonitor(); 00062 00063 void startTrajectoryMonitor(); 00064 00065 void stopTrajectoryMonitor(); 00066 00067 void clearTrajectory(); 00068 00069 bool isActive() const; 00070 00071 double getSamplingFrequency() const 00072 { 00073 return sampling_frequency_; 00074 } 00075 00076 void setSamplingFrequency(double sampling_frequency); 00077 00080 const robot_trajectory::RobotTrajectory& getTrajectory() 00081 { 00082 return trajectory_; 00083 } 00084 00085 void swapTrajectory(robot_trajectory::RobotTrajectory& other) 00086 { 00087 trajectory_.swap(other); 00088 } 00089 00090 void setOnStateAddCallback(const TrajectoryStateAddedCallback& callback) 00091 { 00092 state_add_callback_ = callback; 00093 } 00094 00095 private: 00096 void recordStates(); 00097 00098 CurrentStateMonitorConstPtr current_state_monitor_; 00099 double sampling_frequency_; 00100 00101 robot_trajectory::RobotTrajectory trajectory_; 00102 ros::Time trajectory_start_time_; 00103 ros::Time last_recorded_state_time_; 00104 00105 boost::scoped_ptr<boost::thread> record_states_thread_; 00106 TrajectoryStateAddedCallback state_add_callback_; 00107 }; 00108 } 00109 00110 #endif