Skip to content
Permalink
Branch: master
Find file Copy path
Find file Copy path
Fetching contributors…
Cannot retrieve contributors at this time
105 lines (87 sloc) 3.93 KB
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
* * Neither the name of Willow Garage 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 OWNER 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.
*********************************************************************/
/* Author: Ioan Sucan */
#pragma once
#include <vector>
#include <string>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/RobotTrajectory.h>
#include <geometry_msgs/PointStamped.h>
/// Namespace for the base class of a MoveIt sensor manager
namespace moveit_sensor_manager
{
/** \brief Define the frame of reference and the frustum of a sensor (usually this is a visual sensor) */
struct SensorInfo
{
SensorInfo() : min_dist(0.), max_dist(0.0), x_angle(0.0), y_angle(0.0)
{
}
/// The name of the frame in which the sensor observation axis is Z and starts at (0,0,0)
std::string origin_frame;
/* Define the frustum (or approximation of the frustum) */
/// The minumum distance along the Z axis at which observations start
double min_dist;
/// The maximum distance along the Z axis at which observations can be
double max_dist;
/// The range of observations (in radians) on the X axis
double x_angle;
/// The range of observations (in radians) on the Y axis
double y_angle;
};
MOVEIT_CLASS_FORWARD(MoveItSensorManager);
class MoveItSensorManager
{
public:
MoveItSensorManager()
{
}
virtual ~MoveItSensorManager()
{
}
/** \brief Get the list of known sensors */
virtual void getSensorsList(std::vector<std::string>& names) const = 0;
/** \brief Get the sensor information for a particular sensor */
virtual SensorInfo getSensorInfo(const std::string& name) const = 0;
/** \brief Check if any sensors are known to this manager */
virtual bool hasSensors() const = 0;
/// Point sensor \e name towards a particular point in space (\e target). This may require executing a trajectory, but
/// it may or may not execute that trajectory.
/// If it does not, it returns it as part of \e sensor_trajectory. This is the recommended behaviour, since the caller
/// of this function can perform checks on the safety of the trajectory.
/// The function returns true on success (either completing execution succesfully or computing a trajecotory
/// successufully)
virtual bool pointSensorTo(const std::string& name, const geometry_msgs::PointStamped& target,
moveit_msgs::RobotTrajectory& sensor_trajectory) = 0;
};
}
You can’t perform that action at this time.