pattern_generator_node.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_PATTERN_GENERATOR_NODE_H__
#define VIGIR_PATTERN_GENERATOR_NODE_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>

#include <vigir_pattern_generator/pattern_generator.h>



namespace vigir_footstep_planning
{
class PatternGeneratorNode
{
public:
  PatternGeneratorNode(ros::NodeHandle& nh);
  virtual ~PatternGeneratorNode();

  void update(const ros::TimerEvent& timer);

protected:
  void generatePattern(const msgs::StepPlanRequestConstPtr& step_plan_request);
  void setParams(const msgs::PatternGeneratorParametersConstPtr& params);

  bool generatePatternService(msgs::GeneratePatternService::Request& req, msgs::GeneratePatternService::Response& resp);
  bool setParamsService(msgs::PatternGeneratorParametersService::Request& req, msgs::PatternGeneratorParametersService::Response& resp);

  void generatePatternAction(SimpleActionServer<msgs::GeneratePatternAction>::Ptr& as);

  void executeStepPlanFeedback(const msgs::ExecuteStepPlanFeedbackConstPtr& feedback);

  // subscriber
  ros::Subscriber generate_pattern_sub;
  ros::Subscriber set_params_sub;

  // publisher
  ros::Publisher step_plan_pub;
  ros::Publisher step_plan_vis_pub;

  // service servers
  ros::ServiceServer generate_pattern_srv;
  ros::ServiceServer set_params_srv;

  // action clients
  SimpleActionClient<msgs::ExecuteStepPlanAction>::Ptr execute_step_plan_ac;

  // action servers
  SimpleActionServer<msgs::GeneratePatternAction>::Ptr generate_pattern_as;

  ros::Duration update_intervall;
  ros::Timer timer;

  PatternGenerator pattern_generator;

  bool republish_complete_step_plan;
};
}

#endif