chomp_motion_planner: chomp_cost

00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, 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 the 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 
00037 #ifndef CHOMP_COST_SERVER_H_
00038 #define CHOMP_COST_SERVER_H_
00039 
00040 #include <ros/ros.h>
00041 #include <chomp_motion_planner/GetChompCollisionCost.h>
00042 #include <chomp_motion_planner/chomp_robot_model.h>
00043 #include <chomp_motion_planner/chomp_collision_space.h>
00044 #include <boost/thread/mutex.hpp>
00045 #include <kdl/jntarray.hpp>
00046 #include <sensor_msgs/JointState.h>
00047 #include <visualization_msgs/MarkerArray.h>
00048 
00049 #include <chomp_motion_planner/GetStateCost.h>
00050 
00051 namespace chomp
00052 {
00053 
00058 class ChompCostServer
00059 {
00060 public:
00061   ChompCostServer();
00062   virtual ~ChompCostServer();
00063 
00064   bool init(bool advertise_service);
00065   int run();
00066   bool getChompCollisionCost(chomp_motion_planner::GetChompCollisionCost::Request& request, chomp_motion_planner::GetChompCollisionCost::Response& response);
00067   bool getStateCost(chomp_motion_planner::GetStateCost::Request& request, chomp_motion_planner::GetStateCost::Response& response);
00068 
00069   void mechanismStateCallback(const sensor_msgs::JointStateConstPtr& mech_state);
00070 
00071 private:
00072 
00073   ros::NodeHandle node_;
00074   ros::ServiceServer get_chomp_collision_cost_server_, get_state_cost_server_;
00075   ros::Subscriber mechanism_state_subscriber_;
00076   ros::Publisher vis_marker_array_publisher_;
00077 
00078   ChompRobotModel chomp_robot_model_;
00079   ChompCollisionSpace chomp_collision_space_;
00080   boost::mutex mechanism_state_mutex_;
00081 
00082   sensor_msgs::JointState mechanism_state_;
00083 
00084   void fillDefaultJointArray(KDL::JntArray& jnt_array);
00085 };
00086 
00087 }
00088 
00089 #endif /* CHOMP_COST_SERVER_H_ */
chomp_cost_server.h
