OperateHandleController.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 #ifndef __OPERATEHANDLECONTROLLER_H__
00031 #define __OPERATEHANDLECONTROLLER_H__
00032 
00033 #include <std_srvs/Empty.h>
00034 #include <tf/transform_listener.h>
00035 #include <geometry_msgs/PoseStamped.h>
00036 #include <sensor_msgs/PointCloud2.h>
00037 
00038 
00039 class RobotArm;
00040 class Pressure;
00041 
00042 class OperateHandleController {
00043 
00044   public:
00045 
00046   static tf::Stamped<tf::Pose> getCopPose(const char name[], const char frame[]);
00047   static tf::Stamped<tf::Pose> getBowlPose();
00048   static btVector3 getPlatePose();
00049   static btVector3 getTabletPose();
00050 
00051   //returns a handle that can be used to close the thing again,
00052   static int operateHandle(int arm, tf::Stamped<tf::Pose> aM, int numretry = 0);
00053 
00054   static int graspHandle(int arm_, tf::Stamped<tf::Pose> aM);
00055 
00056 
00057   static tf::Stamped<tf::Pose> getHandlePoseFromMarker(int arm_, int pos);
00058 
00059   // starting from a nice initial pose
00060   static void close(int side_c, int handle_);
00061 
00062   static void pickPlate(btVector3 plate, double width = 0.34);
00063 
00064   static void getPlate(int object, double zHint = 0);
00065 
00066   static void singleSidedPick(int side,tf::Stamped<tf::Pose> start, tf::Stamped<tf::Pose> end);
00067 
00068   static int maxHandle;
00069 
00070   static std::vector<std::vector<tf::Stamped<tf::Pose> *> > openingTraj;
00071 
00072   //static void spinnerL(double l, double back);
00073   static void spinnerL(double x, double y, double z);
00074 
00075   static void openGrippers(bool wait = true);
00076   static void closeGrippers(bool wait = true);
00077 
00078   static void plateCarryPose();
00079 
00080   static void plateTuckPose();
00081   static void plateTuckPoseLeft();
00082   static void plateTuckPoseRight();
00083 
00084   static void plateAttackPose();
00085   static void plateAttackPoseLeft();
00086   static void plateAttackPoseRight();
00087 
00088 };
00089 
00090 
00091 
00092 
00093 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57