RobotModel.hpp

Go to the documentation of this file.

#ifndef ROBOTMODEL_HPP_
#define ROBOTMODEL_HPP_

#include <robot_model_services/robot_model/RobotState.hpp>
#include <robot_model_services/typedef.hpp>
#include "nav_msgs/Path.h"

namespace robot_model_services {

    // TODO costs -> inverse costs
        class RobotModel {
        private:
                RobotStatePtr mCurrentRobotState;
        public:
                RobotModel();

                virtual ~RobotModel();

                virtual bool isPoseReachable(const robot_model_services::SimpleVector3 &position, const robot_model_services::SimpleQuaternion &orientation) = 0;

                virtual bool isPositionReachable(const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition) = 0;

         virtual nav_msgs::Path getNavigationPath(const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition, double sourceRotationBase, double targetRotationBase) = 0;
         virtual nav_msgs::Path getNavigationPath(const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition) = 0;

                RobotStatePtr calculateRobotState(const robot_model_services::SimpleVector3 &position, const robot_model_services::SimpleQuaternion &orientation);

                virtual RobotStatePtr calculateRobotState(const RobotStatePtr &sourceRobotState, const SimpleVector3 &position, const SimpleQuaternion &orientation) = 0;

        float getBase_TranslationalMovementCosts(const RobotStatePtr &targetRobotState);

        virtual float getBase_TranslationalMovementCosts(const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState) = 0;

        float getPTU_TiltMovementCosts(const RobotStatePtr &targetRobotState);

        virtual float getPTU_TiltMovementCosts(const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState) = 0;

        float getPTU_PanMovementCosts(const RobotStatePtr &targetRobotState);

        virtual float getPTU_PanMovementCosts(const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState) = 0;

        float getBase_RotationalMovementCosts(const RobotStatePtr &targetRobotState);

        virtual float getBase_RotationalMovementCosts(const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState) = 0;

        virtual float getDistance(const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition) = 0;

        virtual geometry_msgs::Pose getRobotPose() = 0;

        virtual geometry_msgs::Pose getCameraPose() = 0;

        virtual geometry_msgs::Pose calculateCameraPose(const RobotStatePtr &sourceRobotState) = 0;

                void setCurrentRobotState(const RobotStatePtr &currentRobotState);

                RobotStatePtr getCurrentRobotState();
        };

        typedef boost::shared_ptr<RobotModel> RobotModelPtr;
}

#endif /* ROBOTMODEL_HPP_ */