moveit_fake_controllers.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Ioan A. Sucan
00005  *  Copyright (c) 2016, Robert Haschke
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00035 
00036 /* Author: Ioan Sucan, Robert Haschke */
00037 
00038 #include <moveit/macros/class_forward.h>
00039 #include <moveit/controller_manager/controller_manager.h>
00040 #include <ros/publisher.h>
00041 #include <ros/rate.h>
00042 #include <boost/shared_ptr.hpp>
00043 #include <boost/thread/thread.hpp>
00044 
00045 #ifndef MOVEIT_FAKE_CONTROLLERS
00046 #define MOVEIT_FAKE_CONTROLLERS
00047 
00048 namespace moveit_fake_controller_manager
00049 {
00050 MOVEIT_CLASS_FORWARD(BaseFakeController);
00051 
00052 // common base class to all fake controllers in this package
00053 class BaseFakeController : public moveit_controller_manager::MoveItControllerHandle
00054 {
00055 public:
00056   BaseFakeController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
00057 
00058   virtual moveit_controller_manager::ExecutionStatus getLastExecutionStatus();
00059   void getJoints(std::vector<std::string>& joints) const;
00060 
00061 protected:
00062   std::vector<std::string> joints_;
00063   const ros::Publisher& pub_;
00064 };
00065 
00066 class LastPointController : public BaseFakeController
00067 {
00068 public:
00069   LastPointController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
00070   ~LastPointController();
00071 
00072   virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& t);
00073   virtual bool cancelExecution();
00074   virtual bool waitForExecution(const ros::Duration&);
00075 };
00076 
00077 class ThreadedController : public BaseFakeController
00078 {
00079 public:
00080   ThreadedController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
00081   ~ThreadedController();
00082 
00083   virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& t);
00084   virtual bool cancelExecution();
00085   virtual bool waitForExecution(const ros::Duration&);
00086   virtual moveit_controller_manager::ExecutionStatus getLastExecutionStatus();
00087 
00088 protected:
00089   bool cancelled()
00090   {
00091     return cancel_;
00092   }
00093 
00094 private:
00095   virtual void execTrajectory(const moveit_msgs::RobotTrajectory& t) = 0;
00096   virtual void cancelTrajectory();
00097 
00098 private:
00099   boost::thread thread_;
00100   bool cancel_;
00101   moveit_controller_manager::ExecutionStatus status_;
00102 };
00103 
00104 class ViaPointController : public ThreadedController
00105 {
00106 public:
00107   ViaPointController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
00108   ~ViaPointController();
00109 
00110 protected:
00111   virtual void execTrajectory(const moveit_msgs::RobotTrajectory& t);
00112 };
00113 
00114 class InterpolatingController : public ThreadedController
00115 {
00116 public:
00117   InterpolatingController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
00118   ~InterpolatingController();
00119 
00120 protected:
00121   virtual void execTrajectory(const moveit_msgs::RobotTrajectory& t);
00122 
00123 private:
00124   ros::WallRate rate_;
00125 };
00126 }
00127 
00128 #endif


moveit_fake_controller_manager
Author(s): Ioan Sucan
autogenerated on Wed Jun 19 2019 19:24:22