00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _hand_marker_publisher_alg_node_h_ 00026 #define _hand_marker_publisher_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "hand_marker_publisher_alg.h" 00030 #include "segway_arm_kinematics.h" 00031 #include <vector> 00032 00033 // [publisher subscriber headers] 00034 #include <visualization_msgs/Marker.h> 00035 #include <tf/tfMessage.h> 00036 #include <tf/tf.h> 00037 #include <tf/transform_listener.h> 00038 00039 00040 // [service client headers] 00041 00042 // [action server client headers] 00043 00048 class HandMarkerPublisherAlgNode : public algorithm_base::IriBaseAlgorithm<HandMarkerPublisherAlgorithm> 00049 { 00050 private: 00051 00052 float x,y,z; 00053 bool first_time; 00054 std::vector<double> pose,angles; 00055 CSegwayArmKinematics *arm; 00056 char hand_tf[30]; 00057 int arm_id; 00058 00059 // [publisher attributes] 00060 ros::Publisher hand_marker_publisher_; 00061 visualization_msgs::Marker Marker_msg_; 00062 00063 ros::Publisher hand_marker_shoulder_publisher_; 00064 visualization_msgs::Marker Marker_shoulder_msg_; 00065 00066 ros::Publisher hand_marker_IK_FK_publisher_; 00067 visualization_msgs::Marker Marker_IK_FK_msg_; 00068 00069 ros::Publisher hand_marker_workspace_publisher_; 00070 visualization_msgs::Marker Marker_workspace_msg_; 00071 00072 // [subscriber attributes] 00073 tf::TransformListener listener; 00074 tf::StampedTransform echo_transform; 00075 tf::Vector3 v; 00076 00077 // [service attributes] 00078 00079 // [client attributes] 00080 00081 // [action server attributes] 00082 00083 // [action client attributes] 00084 00085 public: 00092 HandMarkerPublisherAlgNode(void); 00093 00100 ~HandMarkerPublisherAlgNode(void); 00101 00102 protected: 00115 void mainNodeThread(void); 00116 00129 void node_config_update(Config &config, uint32_t level); 00130 00137 void addNodeDiagnostics(void); 00138 00139 // [diagnostic functions] 00140 00141 // [test functions] 00142 }; 00143 00144 #endif