Approach.h
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00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00031 #ifndef __APPROACH_H__
00032 #define __APPROACH_H__
00033 
00034 
00035 
00036 #include <std_srvs/Empty.h>
00037 #include <tf/transform_listener.h>
00038 
00039 
00040 class RobotArm;
00041 class Pressure;
00042 
00043 class Approach {
00044 
00045     public :
00046 
00047     enum SensorArea {inside, front};
00048 
00049     std_srvs::Empty serv;
00050     RobotArm *arm;
00051     tf::Stamped<tf::Pose> plateCenter,startPose;
00052     btVector3 diff;
00053     Pressure *pressure;
00054     double pressureZeroR, pressureZeroL;
00055     double pressureDiff;
00056     bool touched;
00057     double firstTouch;
00058     int side_;
00059     int sensors_;
00060 
00061     // sensors 0 = inside, 1 = front
00062     void init(int side, tf::Stamped<tf::Pose> approachP, tf::Stamped<tf::Pose> plateCenter, SensorArea sensor = Approach::inside);
00063     void move_to(double ap);
00064     double increment(double st, double ap);
00065     bool finish();
00066 
00067 };
00068 
00069 
00070 class Lift {
00071 
00072     public :
00073 
00074     std_srvs::Empty serv;
00075     RobotArm *arm;
00076     tf::Stamped<tf::Pose> plateCenter,startPose;
00077     btVector3 diff;
00078     btVector3 diffToRob;
00079 
00080     int side_;
00081 
00082     void init(int side);
00083 
00084     //void increment(double up, double back);
00085     void increment(double x, double y, double z);
00086 
00087 };
00088 
00089 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:37