pattern_generator_node.h
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00001 //=================================================================================================
00002 // Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef VIGIR_PATTERN_GENERATOR_NODE_H__
00030 #define VIGIR_PATTERN_GENERATOR_NODE_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
00035 
00036 #include <vigir_pattern_generator/pattern_generator.h>
00037 
00038 
00039 
00040 namespace vigir_footstep_planning
00041 {
00042 class PatternGeneratorNode
00043 {
00044 public:
00045   PatternGeneratorNode(ros::NodeHandle& nh);
00046   virtual ~PatternGeneratorNode();
00047 
00048   void update(const ros::TimerEvent& timer);
00049 
00050 protected:
00051   void setParams(const msgs::PatternGeneratorParametersConstPtr& params);
00052 
00053   bool setParamsService(msgs::PatternGeneratorParametersService::Request& req, msgs::PatternGeneratorParametersService::Response& resp);
00054 
00055   void executeStepPlanFeedback(const msgs::ExecuteStepPlanFeedbackConstPtr& feedback);
00056 
00057   ros::Duration update_intervall;
00058   ros::Timer timer;
00059 
00060   PatternGenerator pattern_generator;
00061 
00062   bool republish_complete_step_plan;
00063 
00064   // subscriber
00065   ros::Subscriber set_params_sub;
00066 
00067   // publisher
00068   ros::Publisher step_plan_pub;
00069   ros::Publisher step_plan_vis_pub;
00070 
00071   // service servers
00072   ros::ServiceServer generate_pattern_srv;
00073   ros::ServiceServer set_params_srv;
00074 
00075   // action clients
00076   SimpleActionClient<msgs::ExecuteStepPlanAction>::Ptr execute_step_plan_ac;
00077 };
00078 }
00079 
00080 #endif


vigir_pattern_generator
Author(s): Alexander Stumpf
autogenerated on Thu Jun 6 2019 18:38:16