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_