sensor_manager.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <vector>
#include <string>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <geometry_msgs/msg/point_stamped.hpp>
 
namespace moveit_sensor_manager
{
struct SensorInfo
{
  SensorInfo() : min_dist(0.), max_dist(0.0), x_angle(0.0), y_angle(0.0)
  {
  }
 
  std::string origin_frame;
 
  /* Define the frustum (or approximation of the frustum) */
 
  double min_dist;
 
  double max_dist;
 
  double x_angle;
 
  double y_angle;
};
 
MOVEIT_CLASS_FORWARD(MoveItSensorManager);  // Defines MoveItSensorManagerPtr, ConstPtr, WeakPtr... etc
 
class MoveItSensorManager
{
public:
  MoveItSensorManager()
  {
  }
 
  virtual ~MoveItSensorManager()
  {
  }
 
  virtual bool initialize(const rclcpp::Node::SharedPtr& node) = 0;
 
  virtual void getSensorsList(std::vector<std::string>& names) const = 0;
 
  virtual SensorInfo getSensorInfo(const std::string& name) const = 0;
 
  virtual bool hasSensors() const = 0;
 
  virtual bool pointSensorTo(const std::string& name, const geometry_msgs::msg::PointStamped& target,
                             moveit_msgs::msg::RobotTrajectory& sensor_trajectory) = 0;
};
}  // namespace moveit_sensor_manager