ompl_ros_interface: ompl_ros_interface: ompl_ros_planner

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00034 
00037 #ifndef OMPL_PLANNER_CONFIG_
00038 #define OMPL_PLANNER_CONFIG_
00039 
00040 #include <boost/shared_ptr.hpp>
00041 #include <string>
00042 #include <map>
00043 #include <vector>
00044 
00045 #include <ros/ros.h>
00046 
00047 namespace ompl_ros_interface
00048 {
00053 class PlannerConfig
00054 {
00055 public:
00062   PlannerConfig(const std::string &description, const std::string &config) : description_(description), config_(config)
00063   {
00064   }
00065   
00066   ~PlannerConfig(void)
00067   {
00068   }
00069   
00074   const std::string& getName(void);
00075 
00081   bool        hasParam(const std::string &param);
00082 
00088   std::string getParamString(const std::string &param, const std::string &def = "");
00089 
00095   double      getParamDouble(const std::string &param, double def);
00096 
00102   int         getParamInt(const std::string &param, int def);
00103   
00104 private:
00105   
00106   std::string     description_;
00107   std::string     config_;
00108   ros::NodeHandle nh_;    
00109 };
00110 
00116 class PlannerConfigMap
00117 {
00118 public:
00119   
00120   PlannerConfigMap(std::string description) :
00121     description_(description)
00122   {
00123   }
00124   
00125   ~PlannerConfigMap(void)
00126   {
00127   }
00128 
00129   void loadPlannerConfigs();
00130 
00132   std::vector< boost::shared_ptr<PlannerConfig> > getGroupPlannersConfig(const std::string &group) const;
00133 
00134 public:
00135   std::string description_; 
00136   std::map<std::string, std::vector<std::string> > group_to_planner_string_config_map_; 
00137   std::vector<std::string> planning_group_names_; 
00138 };
00139 } //namespace ompl_ros_interface
00140 
00141 #endif
ompl_ros_planner_config.h
