tibi_dabo_arm_kinematics_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 _tibi_dabo_arm_kinematics_alg_node_h_
#define _tibi_dabo_arm_kinematics_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "tibi_dabo_arm_kinematics_alg.h"
#include "segway_arm_kinematics.h"
#include <vector>

// [publisher subscriber headers]

// [service client headers]
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetPositionFK.h>

// [action server client headers]

class TibiDaboArmKinematicsAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboArmKinematicsAlgorithm>
{
  private:
    //my stuff
    CSegwayArmKinematics *arm;
    std::vector<double> angles, pose;
    float arm_length;
    std::string arm_id;
    
    // [publisher attributes]

    // [subscriber attributes]

    // [service attributes]
    ros::ServiceServer GetPositionIK_server_;
    bool GetPositionIKCallback(kinematics_msgs::GetPositionIK::Request &req, kinematics_msgs::GetPositionIK::Response &res);
    CMutex GetPositionIK_mutex_;
    ros::ServiceServer GetKinematicSolverInfo_server_;
    bool GetKinematicSolverInfoCallback(kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res);
    CMutex GetKinematicSolverInfo_mutex_;
    ros::ServiceServer GetPositionFK_server_;
    bool GetPositionFKCallback(kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res);
    CMutex GetPositionFK_mutex_;

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    TibiDaboArmKinematicsAlgNode(void);

    ~TibiDaboArmKinematicsAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif