planning_pipeline.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <pluginlib/class_loader.hpp>
#include <ros/ros.h>
 
#include <atomic>
#include <memory>
 
namespace planning_pipeline
{
class PlanningPipeline
{
public:
  static const std::string DISPLAY_PATH_TOPIC;
 
  static const std::string MOTION_PLAN_REQUEST_TOPIC;
 
  static const std::string MOTION_CONTACTS_TOPIC;
 
  PlanningPipeline(const moveit::core::RobotModelConstPtr& model,
                   const ros::NodeHandle& pipeline_nh = ros::NodeHandle("~"),
                   const std::string& planning_plugin_param_name = "planning_plugin",
                   const std::string& adapter_plugins_param_name = "request_adapters");
 
  PlanningPipeline(const moveit::core::RobotModelConstPtr& model, const ros::NodeHandle& pipeline_nh,
                   const std::string& planning_plugin_name, const std::vector<std::string>& adapter_plugin_names);
 
  void displayComputedMotionPlans(bool flag);
 
  void publishReceivedRequests(bool flag);
 
  void checkSolutionPaths(bool flag);
 
  bool getDisplayComputedMotionPlans() const
  {
    return display_computed_motion_plans_;
  }
 
  bool getPublishReceivedRequests() const
  {
    return publish_received_requests_;
  }
 
  bool getCheckSolutionPaths() const
  {
    return check_solution_paths_;
  }
 
  bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;
 
  bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& adapter_added_state_index) const;
 
  void terminate() const;
 
  const std::string& getPlannerPluginName() const
  {
    return planner_plugin_name_;
  }
 
  const std::vector<std::string>& getAdapterPluginNames() const
  {
    return adapter_plugin_names_;
  }
 
  const planning_interface::PlannerManagerPtr& getPlannerManager()
  {
    return planner_instance_;
  }
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  [[nodiscard]] bool isActive() const
  {
    return active_;
  }
 
private:
  void configure();
 
  // Flag that indicates whether or not the planning pipeline is currently solving a planning problem
  mutable std::atomic<bool> active_;
 
  // The NodeHandle to initialize the PlanningPipeline (parameters plugins) with
  ros::NodeHandle pipeline_nh_;
  // The private node handle of the node this PlanningPipeline was initialized from.
  // It's used for plugin-agnostic display and info topics.
  ros::NodeHandle private_nh_;
 
  bool display_computed_motion_plans_;
  ros::Publisher display_path_publisher_;
 
  bool publish_received_requests_;
  ros::Publisher received_request_publisher_;
 
  std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader_;
  planning_interface::PlannerManagerPtr planner_instance_;
  std::string planner_plugin_name_;
 
  std::unique_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > adapter_plugin_loader_;
  std::unique_ptr<planning_request_adapter::PlanningRequestAdapterChain> adapter_chain_;
  std::vector<std::string> adapter_plugin_names_;
 
  moveit::core::RobotModelConstPtr robot_model_;
 
  bool check_solution_paths_;
  ros::Publisher contacts_publisher_;
};
 
MOVEIT_CLASS_FORWARD(PlanningPipeline);  // Defines PlanningPipelinePtr, ConstPtr, WeakPtr... etc
}  // namespace planning_pipeline