RobotDriver.h

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/*
 * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */


#ifndef __ROBOT_DRIVER_H__
#define __ROBOT_DRIVER_H__

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <pr2_common_action_msgs/ArmMoveIKAction.h>
#include <tf/transform_listener.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud.h>
#include <laser_geometry/laser_geometry.h>
#include <boost/thread/mutex.hpp>


class RobotDriver
{
private:
  ros::NodeHandle nh_;
  ros::Publisher cmd_vel_pub_;
  tf::TransformListener listener_;
  ros::Subscriber subScan_;
  laser_geometry::LaserProjection *projector_;
  boost::mutex scan_mutex;
  bool weHaveScan;
  double scanPoints[5000][2];
  size_t numScanPoints;

  RobotDriver();

  static RobotDriver *instance;

  void QuaternionToEuler(const btQuaternion &TQuat, btVector3 &TEuler);

public:

  static RobotDriver *getInstance();

  void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_in);

  bool checkCollision(double relativePose[]);

  bool checkCollision(tf::Stamped<tf::Pose> target);

  void getRobotPose(tf::Stamped<tf::Pose> &marker);


  bool driveInMap(tf::Stamped<tf::Pose> targetPose,bool exitWhenStuck = false);

  bool driveInMap(const double targetPose[],bool exitWhenStuck = false);

  bool driveInOdom(const double targetPose[], bool exitWhenStuck = false);

  void moveBase(const double pose[], bool useNavigation = false);

  static void moveBase4(double x, double y, double oz, double ow, bool useNavigation = false);

  void moveBaseP(double x, double y, double oz, double ow, bool useNavigation = false);

  void driveToMatch(std::vector<tf::Stamped<tf::Pose> > targetPose, std::vector<std::string> frame_ids);

};

#endif