mesh_controller_execution.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. 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.
 *
 *  3. Neither the name of the copyright holder 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 HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */
 
#ifndef MBF_MESH_NAV__MESH_CONTROLLER_EXECUTION_H
#define MBF_MESH_NAV__MESH_CONTROLLER_EXECUTION_H
 
#include <mbf_abstract_nav/abstract_controller_execution.h>
#include <mbf_mesh_core/mesh_controller.h>
#include <mbf_mesh_nav/MoveBaseFlexConfig.h>
#include <mesh_map/mesh_map.h>
 
namespace mbf_mesh_nav
{
class MeshControllerExecution : public mbf_abstract_nav::AbstractControllerExecution
{
public:
  typedef boost::shared_ptr<mesh_map::MeshMap> MeshPtr;
 
  MeshControllerExecution(const std::string name, const mbf_mesh_core::MeshController::Ptr& controller_ptr,
                          const ros::Publisher& vel_pub, const ros::Publisher& goal_pub, const TFPtr& tf_listener_ptr,
                          const MeshPtr& mesh_ptr, const MoveBaseFlexConfig& config);
 
  virtual ~MeshControllerExecution();
 
protected:
  virtual uint32_t computeVelocityCmd(const geometry_msgs::PoseStamped& robot_pose,
                                      const geometry_msgs::TwistStamped& robot_velocity,
                                      geometry_msgs::TwistStamped& vel_cmd, std::string& message);
 
private:
  mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig& config);
 
  const MeshPtr& mesh_ptr_;
 
  bool lock_mesh_;
 
  std::string controller_name_;
};
 
} /* namespace mbf_mesh_nav */
 
#endif /* MBF_MESH_NAV__MESH_CONTROLLER_EXECUTION_H */