collision_monitor.hpp

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/*
 * Title      : collision_monitor.hpp
 * Project    : moveit_servo
 * Created    : 06/08/2023
 * Author     : Brian O'Neil, Andy Zelenak, Blake Anderson, V Mohammed Ibrahim
 *
 * Description: Monitors the planning scene for collision and publishes the velocity scaling.
 */
 
#pragma once
 
#include <moveit_servo_lib_parameters.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/planning_scene/planning_scene.h>
 
namespace moveit_servo
{
 
class CollisionMonitor
{
public:
  CollisionMonitor(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                   const servo::Params& servo_params, std::atomic<double>& collision_velocity_scale);
 
  void start();
 
  void stop();
 
private:
  void checkCollisions();
 
  // Variables
 
  const servo::Params& servo_params_;
 
  const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  moveit::core::RobotState robot_state_;
 
  // The collision monitor thread.
  std::thread monitor_thread_;
  // The flag used for stopping the collision monitor thread.
  std::atomic<bool> stop_requested_;
 
  // The scaling factor when approaching a collision.
  std::atomic<double>& collision_velocity_scale_;
 
  // The data structures used to get information about robot self collisions.
  collision_detection::CollisionRequest self_collision_request_;
  collision_detection::CollisionResult self_collision_result_;
  // The data structures used to get information about robot collision with other objects in the collision scene.
  collision_detection::CollisionRequest scene_collision_request_;
  collision_detection::CollisionResult scene_collision_result_;
};
 
}  // namespace moveit_servo