gen_renders.hh

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#ifndef _GEN_RENDERS_HH_
#define _GEN_RENDERS_HH_

// Gazebo
#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
// I/O streams
#include <iostream>
// Sleep
#include <chrono>
#include <thread>
// Open YAML config files
#include "yaml-cpp/yaml.h"

// Custom messages
#include "MessageTypes.hh"
#include "MessageTopics.hh"
// Grasp representation
#include "Grasp.hh"
// Tools
#include "object_utils.hh"
// Debug streams
#include "debug.hh"

// Type enums

// Camera plugin

#define REQ_CAPTURE    grasp::msgs::CameraRequest::CAPTURE
#define REQ_MOVE       grasp::msgs::CameraRequest::MOVE
#define REQ_PREFIX      grasp::msgs::CameraRequest::PREFIX
#define RES_CAPTURE    grasp::msgs::CameraResponse::CAPTURE
#define RES_MOVE       grasp::msgs::CameraResponse::MOVE
#define RES_PREFIX     grasp::msgs::CameraResponse::PREFIX

// Message type definitions

typedef grasp::msgs::CameraRequest CameraRequest;
typedef const boost::shared_ptr<const grasp::msgs::CameraRequest>
    CameraRequestPtr;
typedef grasp::msgs::CameraResponse CameraResponse;
typedef const boost::shared_ptr<const grasp::msgs::CameraResponse>
    CameraResponsePtr;

typedef grasp::msgs::TargetRequest TargetRequest;

// Functions

const std::string getUsage(const char* argv_0);

void parseArgs(
    int argc,
    char** argv,
    std::string & obj_cfg_dir,
    std::string & obj_rest_dir,
    std::string & grasp_cfg_dir,
    std::string & out_img_dir,
    std::string & robot);

void setupCommunications(
    gazebo::transport::NodePtr & node,
    std::map<std::string, gazebo::transport::PublisherPtr> & pubs,
    std::map<std::string, gazebo::transport::SubscriberPtr> & subs);

void obtainTargets(std::vector<std::string> & targets,
    const std::string & file_name);

void changeImagePrefix(gazebo::transport::PublisherPtr pub,
    const std::string & prefix);

void captureFrame(gazebo::transport::PublisherPtr pub);

void moveCamera(gazebo::transport::PublisherPtr pub,
    ignition::math::Pose3d & pose);

bool waitingTrigger(std::mutex & mutex, bool & trigger);

void onCameraResponse(CameraResponsePtr & _msg);

void inline waitMs(int delay);

#endif