trajectory_monitor.h
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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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:14