Program Listing for File imarker_robot_state.h
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// Copyright 2016 University of Colorado, Boulder
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// * 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.
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// this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* Author: Dave Coleman
Desc: Class to encapsule a visualized robot state that can be controlled using an interactive marker
*/
#ifndef MOVEIT_VISUAL_TOOLS_IMARKER_ROBOT_STATE_H
#define MOVEIT_VISUAL_TOOLS_IMARKER_ROBOT_STATE_H
// ROS
#include <rclcpp/rclcpp.hpp>
#include <interactive_markers/interactive_marker_server.hpp>
#include <visualization_msgs/msg/interactive_marker_feedback.hpp>
// MoveIt
#include <moveit/robot_state/robot_state.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
// C++
#include <string>
#include <vector>
namespace moveit_visual_tools
{
using visualization_msgs::msg::InteractiveMarkerControl;
using visualization_msgs::msg::InteractiveMarkerFeedback;
typedef std::function<void(const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr&,
const Eigen::Isometry3d&)>
IMarkerCallback;
typedef std::shared_ptr<interactive_markers::InteractiveMarkerServer> InteractiveMarkerServerPtr;
class IMarkerEndEffector;
typedef std::shared_ptr<IMarkerEndEffector> IMarkerEndEffectorPtr;
typedef std::shared_ptr<const IMarkerEndEffector> IMarkerEndEffectorConstPtr;
struct ArmData
{
ArmData(moveit::core::JointModelGroup* jmg, moveit::core::LinkModel* ee_link) : jmg_(jmg), ee_link_(ee_link){};
moveit::core::JointModelGroup* jmg_;
moveit::core::LinkModel* ee_link_;
};
class IMarkerRobotState
{
friend class IMarkerEndEffector;
public:
IMarkerRobotState(rclcpp::Node::SharedPtr node, planning_scene_monitor::PlanningSceneMonitorPtr psm,
const std::string& imarker_name, std::vector<ArmData> arm_datas, rviz_visual_tools::Colors color,
const std::string& package_path);
~IMarkerRobotState()
{
output_file_.close();
}
bool loadFromFile(const std::string& file_name);
bool saveToFile();
void setIMarkerCallback(const IMarkerCallback& callback);
moveit::core::RobotStateConstPtr getRobotState()
{
return imarker_state_;
}
moveit::core::RobotStatePtr getRobotStateNonConst()
{
return imarker_state_;
}
void setRobotState(const moveit::core::RobotStatePtr& state);
void setToCurrentState();
bool setToRandomState(double clearance = 0);
bool isStateValid(bool verbose = false);
void publishRobotState();
moveit_visual_tools::MoveItVisualToolsPtr getVisualTools();
bool getFilePath(std::string& file_path, const std::string& file_name, const std::string& subdirectory) const;
IMarkerEndEffectorPtr getEEF(const std::string& name)
{
return name_to_eef_[name];
}
bool setFromPoses(const EigenSTL::vector_Isometry3d& poses, const moveit::core::JointModelGroup* group);
protected:
// --------------------------------------------------------
// The short name of this class
std::string name_;
// State
moveit::core::RobotStatePtr imarker_state_;
// End effectors
std::vector<ArmData> arm_datas_;
std::vector<IMarkerEndEffectorPtr> end_effectors_;
std::map<std::string, IMarkerEndEffectorPtr> name_to_eef_;
// Core MoveIt components
planning_scene_monitor::PlanningSceneMonitorPtr psm_;
// Visual tools
moveit_visual_tools::MoveItVisualToolsPtr visual_tools_;
// Settings
std::size_t refresh_rate_ = 30;
rviz_visual_tools::Colors color_ = rviz_visual_tools::PURPLE;
// Interactive markers
InteractiveMarkerServerPtr imarker_server_;
// File saving
std::string file_path_;
std::ofstream output_file_;
std::string package_path_; // File location of this package
}; // end class
// Create std pointers for this class
typedef std::shared_ptr<IMarkerRobotState> IMarkerRobotStatePtr;
typedef std::shared_ptr<const IMarkerRobotState> IMarkerRobotStateConstPtr;
} // namespace moveit_visual_tools
#endif // MOVEIT_VISUAL_TOOLS_IMARKER_ROBOT_STATE_H