sensor_manager.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_SENSOR_MANAGER_
00038 #define MOVEIT_MOVEIT_SENSOR_MANAGER_
00039 
00040 #include <vector>
00041 #include <string>
00042 #include <moveit/macros/class_forward.h>
00043 #include <moveit_msgs/RobotTrajectory.h>
00044 #include <geometry_msgs/PointStamped.h>
00045 
00047 namespace moveit_sensor_manager
00048 {
00050 struct SensorInfo
00051 {
00052   SensorInfo() : min_dist(0.), max_dist(0.0), x_angle(0.0), y_angle(0.0)
00053   {
00054   }
00055 
00057   std::string origin_frame;
00058 
00059   /* Define the frustum (or approximation of the frustum) */
00060 
00062   double min_dist;
00063 
00065   double max_dist;
00066 
00068   double x_angle;
00069 
00071   double y_angle;
00072 };
00073 
00074 MOVEIT_CLASS_FORWARD(MoveItSensorManager);
00075 
00076 class MoveItSensorManager
00077 {
00078 public:
00079   MoveItSensorManager()
00080   {
00081   }
00082 
00083   virtual ~MoveItSensorManager()
00084   {
00085   }
00086 
00088   virtual void getSensorsList(std::vector<std::string>& names) const = 0;
00089 
00091   virtual SensorInfo getSensorInfo(const std::string& name) const = 0;
00092 
00094   virtual bool hasSensors() const = 0;
00095 
00102   virtual bool pointSensorTo(const std::string& name, const geometry_msgs::PointStamped& target,
00103                              moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
00104 };
00105 }
00106 
00107 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Jul 24 2017 02:20:44