wam_tcp_ik_alg_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_tcp_ik_alg_node_h_
#define _wam_tcp_ik_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "wam_tcp_ik_alg.h"

// [publisher subscriber headers]

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

// [action server client headers]

#include <tf/transform_listener.h>
#include <string>


class WamTcpIkAlgNode : public algorithm_base::IriBaseAlgorithm<WamTcpIkAlgorithm>
{
  private:

    //Dynamic reconfigure
    std::string robot_base_str_;
    std::string robot_tcp_str_;
    std::string tool_tcp_str_;

    tf::TransformListener listener_; 
    tf::StampedTransform tcp_H_wam7_;
    tf::StampedTransform world_H_wam7_;
    iri_wam_common_msgs::wamInverseKinematics base_pose_msg_;

    // [publisher attributes]

    // [subscriber attributes]

    // [service attributes]
    ros::ServiceServer get_ik_server_;
    bool get_ikCallback(iri_wam_common_msgs::wamInverseKinematics::Request &req, iri_wam_common_msgs::wamInverseKinematics::Response &res);
    CMutex get_ik_mutex_;

    ros::ServiceServer get_robot_pose_server_;
    bool get_robotPoseCallback(iri_wam_common_msgs::wamGetRobotPoseFromToolPose::Request &req, iri_wam_common_msgs::wamGetRobotPoseFromToolPose::Response &res);
    CMutex get_robot_pose_mutex_;

    // [client attributes]
    ros::ServiceClient get_ik_client_;
    iri_wam_common_msgs::wamInverseKinematics get_ik_srv_;

    // [action server attributes]

    // [action client attributes]

  public:
    WamTcpIkAlgNode(void);

    ~WamTcpIkAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif