jog_cpp_interface.h

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/*******************************************************************************
 *      Title     : jog_cpp_interface.h
 *      Project   : moveit_jog_arm
 *      Created   : 11/20/2019
 *      Author    : Andy Zelenak
 *
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Los Alamos National Security, LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
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 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * ARE
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#pragma once

#include <atomic>
#include "jog_interface_base.h"
#include <std_msgs/Int8.h>

namespace moveit_jog_arm
{
class JogCppInterface : public JogInterfaceBase
{
public:
  JogCppInterface(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);

  ~JogCppInterface();

  void startMainLoop();

  void stopMainLoop();

  void setPaused(bool paused);

  void provideTwistStampedCommand(const geometry_msgs::TwistStamped& velocity_command);

  void provideJointCommand(const control_msgs::JointJog& joint_command);

  sensor_msgs::JointState getJointState();

  bool getCommandFrameTransform(Eigen::Isometry3d& transform);

  StatusCode getJoggerStatus();

private:
  ros::NodeHandle nh_;
};
}  // namespace moveit_jog_arm