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 #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 }