trajectory_monitor.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene_monitor/current_state_monitor.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <rclcpp/time.hpp>
#include <memory>
#include <functional>
#include <thread>
 
namespace planning_scene_monitor
{
using TrajectoryStateAddedCallback = std::function<void(const moveit::core::RobotStateConstPtr&, const rclcpp::Time&)>;
 
MOVEIT_CLASS_FORWARD(TrajectoryMonitor);  // Defines TrajectoryMonitorPtr, ConstPtr, WeakPtr... etc
 
class TrajectoryMonitor
{
public:
  class MiddlewareHandle
  {
  public:
    virtual ~MiddlewareHandle() = default;
 
    virtual void setRate(double sampling_frequency) = 0;
 
    virtual void sleep() = 0;
  };
 
  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 0.0);
 
  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor,
                    std::unique_ptr<MiddlewareHandle> middleware_handle, double sampling_frequency = 0.0);
 
  ~TrajectoryMonitor();
 
  void startTrajectoryMonitor();
 
  void stopTrajectoryMonitor();
 
  void clearTrajectory();
 
  bool isActive() const;
 
  double getSamplingFrequency() const
  {
    return sampling_frequency_;
  }
 
  void setSamplingFrequency(double sampling_frequency);
 
  const robot_trajectory::RobotTrajectory& getTrajectory()
  {
    return trajectory_;
  }
 
  void swapTrajectory(robot_trajectory::RobotTrajectory& other)
  {
    trajectory_.swap(other);
  }
 
  void setOnStateAddCallback(const TrajectoryStateAddedCallback& callback)
  {
    state_add_callback_ = callback;
  }
 
private:
  void recordStates();
 
  // Samples robot states.
  CurrentStateMonitorConstPtr current_state_monitor_;
  // Interface for communicating with ROS.
  std::unique_ptr<MiddlewareHandle> middleware_handle_;
  double sampling_frequency_;
 
  robot_trajectory::RobotTrajectory trajectory_;
  rclcpp::Time trajectory_start_time_;
  rclcpp::Time last_recorded_state_time_;
 
  std::unique_ptr<std::thread> record_states_thread_;
  TrajectoryStateAddedCallback state_add_callback_;
 
  rclcpp::Logger logger_;
};
}  // namespace planning_scene_monitor