planning_request_adapter.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_scene/planning_scene.h>
#include <boost/function.hpp>
 
namespace planning_request_adapter
{
MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapterPtr, ConstPtr, WeakPtr... etc
 
class PlanningRequestAdapter
{
public:
  using PlannerFn =
      boost::function<bool(const planning_scene::PlanningSceneConstPtr&, const planning_interface::MotionPlanRequest&,
                           planning_interface::MotionPlanResponse&)>;
 
  PlanningRequestAdapter()
  {
  }
 
  virtual ~PlanningRequestAdapter()
  {
  }
 
  virtual void initialize(const ros::NodeHandle& node_handle) = 0;
 
  virtual std::string getDescription() const
  {
    return "";
  }
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;
 
  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest& req,
                            planning_interface::MotionPlanResponse& res,
                            std::vector<std::size_t>& added_path_index) const = 0;
};
 
class PlanningRequestAdapterChain
{
public:
  PlanningRequestAdapterChain()
  {
  }
 
  void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
  {
    adapters_.push_back(adapter);
  }
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;
 
private:
  std::vector<PlanningRequestAdapterConstPtr> adapters_;
};
}  // namespace planning_request_adapter