ompl_ros_interface: ompl_ros.h Source File

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00034 
00037 #ifndef OMPL_ROS_H_
00038 #define OMPL_ROS_H_
00039 
00040 // ROS
00041 #include <ros/console.h>
00042 #include <ros/ros.h>
00043 #include <tf/tf.h>
00044 
00045 // Planning environment and models
00046 #include <planning_environment/monitors/planning_monitor.h>
00047 
00048 // OMPL ROS Interface
00049 #include <ompl_ros_interface/planners/ompl_ros_rpy_ik_task_space_planner.h>
00050 #include <ompl_ros_interface/planners/ompl_ros_joint_planner.h>
00051 #include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
00052 
00053 // Diagnostics Message
00054 #include <ompl_ros_interface/OmplPlannerDiagnostics.h>
00055 
00056 namespace ompl_ros_interface
00057 {
00062 class OmplRos
00063 {
00064 public:
00065 
00066   OmplRos();
00067   ~OmplRos();
00068 
00072   void run(void);
00073 
00077   boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup>& getPlanner(const std::string &group_name, 
00078                                                                           const std::string &planner_config_name);
00079 
00080 private:
00081 
00086   bool computePlan(motion_planning_msgs::GetMotionPlan::Request &request,
00087                    motion_planning_msgs::GetMotionPlan::Response &response);
00088 
00092   bool getGroupNamesFromParamServer(const std::string &param_server_prefix,
00093                                     std::vector<std::string> &group_names);
00094   
00095   bool initialize(planning_environment::PlanningMonitor *planning_monitor,
00096                   const std::string &param_server_prefix);
00097   
00098   bool initializePlanningMap(const std::string &param_server_prefix,
00099                              const std::vector<std::string> &group_names);
00100   
00101   bool initializePlanningInstance(const std::string &param_server_prefix,
00102                                   const std::string &group_name,
00103                                   const std::string &planner_config_name);    
00107   std::map<std::string,boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup> > planner_map_;
00108 
00109   // ROS interface 
00110   boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup> empty_ptr;
00111   ros::ServiceServer                     plan_path_service_;
00112   planning_environment::CollisionModels *collision_models_;
00113   planning_environment::PlanningMonitor *planning_monitor_;
00114   ros::NodeHandle                        node_handle_;
00115   tf::TransformListener                  tf_;
00116   std::string default_planner_id_;
00117   bool publish_diagnostics_;
00118   ros::Publisher diagnostic_publisher_;
00119 
00120 };
00121 }
00122 
00123 #endif //OMPL_ROS_H_