Program Listing for File basic_motion_references.hpp

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/*!*******************************************************************************************
 *  \file       basic_motion_references.hpp
 *  \brief      Virtual class for basic motion references headers
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 ********************************************************************************/

#ifndef AS2_MOTION_REFERENCE_HANDLERS__BASIC_MOTION_REFERENCES_HPP_
#define AS2_MOTION_REFERENCE_HANDLERS__BASIC_MOTION_REFERENCES_HPP_

#include <string>

#include <as2_msgs/msg/control_mode.hpp>
#include <as2_msgs/msg/controller_info.hpp>
#include <as2_msgs/msg/trajectory_point.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>

#include "as2_core/node.hpp"

namespace as2
{
namespace motionReferenceHandlers
{
class BasicMotionReferenceHandler
{
public:
  explicit BasicMotionReferenceHandler(as2::Node * as2_ptr, const std::string & ns = "");
  ~BasicMotionReferenceHandler();

protected:
  as2::Node * node_ptr_;
  std::string namespace_;

  as2_msgs::msg::TrajectoryPoint command_trajectory_msg_;
  geometry_msgs::msg::PoseStamped command_pose_msg_;
  geometry_msgs::msg::TwistStamped command_twist_msg_;

  as2_msgs::msg::ControlMode desired_control_mode_;

  bool sendPoseCommand();
  bool sendTwistCommand();
  bool sendTrajectoryCommand();
  bool checkMode();

private:
  static int number_of_instances_;

  static rclcpp::Subscription<as2_msgs::msg::ControllerInfo>
  ::SharedPtr controller_info_sub_;
  static as2_msgs::msg::ControlMode current_mode_;

  static rclcpp::Publisher<as2_msgs::msg::TrajectoryPoint>::SharedPtr command_traj_pub_;
  static rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr command_pose_pub_;
  static rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr command_twist_pub_;

  bool setMode(const as2_msgs::msg::ControlMode & mode);
};

}    // namespace motionReferenceHandlers
}  // namespace as2

#endif  // AS2_MOTION_REFERENCE_HANDLERS__BASIC_MOTION_REFERENCES_HPP_