move_arm_setup.h

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 *
 * \author Sachin Chitta, Ioan Sucan
 *********************************************************************/

#ifndef MOVE_ARM_MOVE_ARM_SETUP_
#define MOVE_ARM_MOVE_ARM_SETUP_

#include <ros/ros.h>

#include <arm_control_msgs/TrajectoryStart.h>
#include <arm_control_msgs/TrajectoryQuery.h>
#include <arm_control_msgs/TrajectoryCancel.h>

#include <planning_environment/monitors/planning_monitor.h>

namespace move_arm
{

    static const std::string CONTROL_START_NAME      = "controller_start";

    static const std::string CONTROL_QUERY_NAME      = "controller_query";

    static const std::string CONTROL_CANCEL_NAME     = "controller_cancel";

    static const std::string SEARCH_VALID_STATE_NAME = "get_valid_state";

    static const std::string ARM_IK_NAME             = "arm_ik";


    class MoveArmSetup
    {
        friend class MoveArm;
        friend class MoveArmMonitor;
        friend class TeleopArm;

    public:

        MoveArmSetup(void): nodeHandle_("~")
        {
            collision_models_ = NULL;
            planning_monitor_ = NULL;
        }

        virtual ~MoveArmSetup(void)
        {
            if (planning_monitor_)
                delete planning_monitor_;
            if (collision_models_)
                delete collision_models_;
        }


        bool configure(void);

    protected:

        bool getControlJointNames(std::vector<std::string> &joint_names);

        ros::NodeHandle                        nodeHandle_, root_handle_;
        tf::TransformListener                  tf_;
        planning_environment::CollisionModels *collision_models_;
        planning_environment::PlanningMonitor *planning_monitor_;

        std::string                            group_;
        std::vector<std::string>               groupJointNames_;

      private:
        bool use_collision_map_;

    };

}

#endif