collision_check_thread.h

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/*******************************************************************************
 * Title     : collision_check_thread.h
 * Project   : moveit_jog_arm
 * Created   : 1/11/2019
 * Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 *
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Los Alamos National Security, LLC
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
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 *
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once

#include <atomic>
#include "jog_arm_data.h"
#include "low_pass_filter.h"
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>

namespace moveit_jog_arm
{
class CollisionCheckThread
{
public:
  CollisionCheckThread(const moveit_jog_arm::JogArmParameters& parameters,
                       const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);

  // Get thread-safe read-only lock of planning scene
  planning_scene_monitor::LockedPlanningSceneRO getLockedPlanningSceneRO() const;

  void startMainLoop(moveit_jog_arm::JogArmShared& shared_variables);

private:
  const moveit_jog_arm::JogArmParameters parameters_;

  // Pointer to the collision environment
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
};
}  // namespace moveit_jog_arm