00001 /********************************************************************* 00002 * 00003 * Copyright (c) 2009, Willow Garage, Inc. 00004 * All rights reserved. 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above 00013 * copyright notice, this list of conditions and the following 00014 * disclaimer in the documentation and/or other materials provided 00015 * with the distribution. 00016 * * Neither the name of the Willow Garage nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 00034 // Author(s): Matei Ciocarlie 00035 00036 #include <ros/ros.h> 00037 00038 #include <actionlib/server/simple_action_server.h> 00039 00040 #include <object_manipulation_msgs/PickupAction.h> 00041 #include <object_manipulation_msgs/PlaceAction.h> 00042 #include <object_manipulation_msgs/GraspPlanning.h> 00043 00044 #include "object_manipulator/tools/service_action_wrappers.h" 00045 #include "object_manipulator/tools/mechanism_interface.h" 00046 00047 namespace object_manipulator{ 00048 00049 class PlaceExecutor; 00050 class ReactivePlaceExecutor; 00051 class ReactiveGraspExecutor; 00052 class GraspExecutorWithApproach; 00053 class GraspMarkerPublisher; 00054 00056 00059 class ObjectManipulator 00060 { 00061 private: 00063 ros::NodeHandle priv_nh_; 00064 00066 ros::NodeHandle root_nh_; 00067 00069 00071 MultiArmServiceWrapper<object_manipulation_msgs::GraspPlanning> grasp_planning_services_; 00072 00074 GraspMarkerPublisher *marker_pub_; 00075 00077 bool randomize_grasps_; 00078 00080 GraspExecutorWithApproach* grasp_executor_with_approach_; 00081 00083 ReactiveGraspExecutor* reactive_grasp_executor_; 00084 00086 PlaceExecutor* place_executor_; 00087 00089 ReactivePlaceExecutor* reactive_place_executor_; 00090 00092 std::string default_database_planner_; 00093 00095 std::string default_cluster_planner_; 00096 00098 std::string default_probabilistic_planner_; 00099 public: 00101 ObjectManipulator(); 00102 00103 ~ObjectManipulator(); 00104 00106 void pickup(const object_manipulation_msgs::PickupGoal::ConstPtr &pickup_goal, 00107 actionlib::SimpleActionServer<object_manipulation_msgs::PickupAction> *action_server); 00108 00110 void place(const object_manipulation_msgs::PlaceGoal::ConstPtr &place_goal, 00111 actionlib::SimpleActionServer<object_manipulation_msgs::PlaceAction> *action_server); 00112 00113 }; 00114 00115 } //namespace grasping_app_executive
