wam_dmp_tracker_driver_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _wam_dmp_tracker_driver_node_h_
#define _wam_dmp_tracker_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "wam_dmp_tracker_driver.h"

// [publisher subscriber headers]
#include <geometry_msgs/PoseStamped.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>

// [service client headers]
#include <iri_wam_common_msgs/wamInverseKinematics.h>

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <iri_wam_common_msgs/DMPTrackerAction.h>

class WamDmpTrackerDriverNode : public iri_base_driver::IriBaseNodeDriver<WamDmpTrackerDriver>
{
  private:
    // [publisher attributes]
    ros::Publisher DMPTrackerNewGoal_publisher_;
    trajectory_msgs::JointTrajectoryPoint JointTrajectoryPoint_msg_;

    // [subscriber attributes]
    ros::Subscriber pose_surface_subscriber_;
    void pose_surface_callback(const geometry_msgs::PoseStamped::ConstPtr& msg);
    CMutex pose_surface_mutex_;

    // [service attributes]

    // [client attributes]
    ros::ServiceClient wamik_client_;
    iri_wam_common_msgs::wamInverseKinematics wamik_srv_;

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<iri_wam_common_msgs::DMPTrackerAction> DMPTracker_client_;
    iri_wam_common_msgs::DMPTrackerGoal DMPTracker_goal_;
    void DMPTrackerMakeActionRequest();
    void DMPTrackerDone(const actionlib::SimpleClientGoalState& state,  const iri_wam_common_msgs::DMPTrackerResultConstPtr& result);
    void DMPTrackerActive();
    void DMPTrackerFeedback(const iri_wam_common_msgs::DMPTrackerFeedbackConstPtr& feedback);


    void postNodeOpenHook(void);

  public:
    WamDmpTrackerDriverNode(ros::NodeHandle& nh);

    ~WamDmpTrackerDriverNode(void);

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif