cb_pouring_motion.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018-2020
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include "cb_move_end_effector_trajectory.h"
#include "tf/transform_datatypes.h"
#include <tf/transform_listener.h>
 
namespace cl_move_group_interface
{
    class CbCircularPouringMotion : public CbMoveEndEffectorTrajectory
    {
    public:
        boost::optional<double> angularSpeed_rad_s_;
 
        boost::optional<double> linearSpeed_m_s_;
 
        CbCircularPouringMotion(const geometry_msgs::Point &pivotPoint, double deltaHeight, std::string tipLink , std::string globalFrame);
 
        virtual void generateTrajectory() override;
 
        virtual void createMarkers() override;
 
        geometry_msgs::Vector3 directionVector_;
 
        // relative position of the "lid" of the bottle in the end effector reference frame.
        // that point is the one that must do the linear motion
        geometry_msgs::Pose pointerRelativePose_;
    protected:
        geometry_msgs::Point relativePivotPoint_;
 
        // distance in meters from the initial pose to the bottom/top direction in z axe
        double deltaHeight_;
 
        std::vector<geometry_msgs::PoseStamped> pointerTrajectory_;
 
    private:
        void computeCurrentEndEffectorPoseRelativeToPivot();
 
        std::string globalFrame_;
    };
 
} // namespace cl_move_group_interface