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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef OMPL_ROS_IK_RPY_TASK_SPACE_PLANNER_H_ 00038 #define OMPL_ROS_IK_RPY_TASK_SPACE_PLANNER_H_ 00039 00040 // OMPL ROS Interface 00041 #include <ompl_ros_interface/planners/ompl_ros_task_space_planner.h> 00042 #include <ompl_ros_interface/state_validity_checkers/ompl_ros_task_space_validity_checker.h> 00043 #include <ompl_ros_interface/state_transformers/ompl_ros_rpy_ik_state_transformer.h> 00044 00045 #include <arm_navigation_msgs/ArmNavigationErrorCodes.h> 00046 00047 namespace ompl_ros_interface 00048 { 00049 class OmplRosRPYIKTaskSpacePlanner: public OmplRosTaskSpacePlanner 00050 { 00051 protected: 00052 virtual bool initializeStateValidityChecker(ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker); 00053 00054 virtual arm_navigation_msgs::RobotTrajectory getSolutionPath(); 00055 00056 virtual bool constraintsToOmplState(const arm_navigation_msgs::Constraints &constraints, 00057 ompl::base::ScopedState<ompl::base::CompoundStateSpace> &goal); 00058 00059 private: 00060 00061 bool poseStampedToOmplState(const geometry_msgs::PoseStamped &pose_stamped, 00062 ompl::base::ScopedState<ompl::base::CompoundStateSpace> &goal, 00063 const bool &return_if_outside_constraints = true); 00064 00065 geometry_msgs::PoseStamped getEndEffectorPose(const arm_navigation_msgs::RobotState &robot_state); 00066 00067 virtual bool setStart(arm_navigation_msgs::GetMotionPlan::Request &request, 00068 arm_navigation_msgs::GetMotionPlan::Response &response); 00069 00070 bool checkAndCorrectForWrapAround(double &value, 00071 const double &min_v, 00072 const double &max_v); 00073 00074 boost::shared_ptr<ompl::base::RealVectorBounds> original_real_vector_bounds_; 00075 00076 bool getEndEffectorConstraints(const arm_navigation_msgs::Constraints &constraints, 00077 arm_navigation_msgs::PositionConstraint &position_constraint, 00078 arm_navigation_msgs::OrientationConstraint &orientation_constraint, 00079 const bool &need_both_constraints); 00080 00081 bool positionConstraintToOmplStateBounds(const arm_navigation_msgs::PositionConstraint &position_constraint, 00082 ompl::base::StateSpacePtr &goal); 00083 00084 bool orientationConstraintToOmplStateBounds(const arm_navigation_msgs::OrientationConstraint &orientation_constraint, 00085 ompl::base::StateSpacePtr &goal); 00086 00087 std::string end_effector_name_; 00088 00089 }; 00090 } 00091 #endif //OMPL_ROS_IK_RPY_TASK_SPACE_PLANNER_H_