ompl_ros_interface: ompl_ros_ik_sampler.h Source File

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00034 
00037 #ifndef OMPL_ROS_IK_SAMPLER_H_
00038 #define OMPL_ROS_IK_SAMPLER_H_
00039 
00040 // OMPL
00041 #include <ompl/base/GoalSampleableRegion.h>
00042 #include <ompl/base/GoalLazySamples.h>
00043 #include <ompl/base/ScopedState.h>
00044 #include <ompl/base/State.h>
00045 
00046 // Planning environment and models
00047 #include <planning_environment/monitors/planning_monitor.h>
00048 #include <planning_models/kinematic_model.h>
00049 #include <planning_models/kinematic_state.h>
00050 
00051 // OMPL ROS Interface
00052 #include <ompl_ros_interface/ompl_ros_state_validity_checker.h>
00053 #include <ompl_ros_interface/ompl_ros_projection_evaluator.h>
00054 #include <ompl_ros_interface/ompl_ros_planner_config.h>
00055 #include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
00056 
00057 // Kinematics
00058 #include <pluginlib/class_loader.h>
00059 #include <kinematics_base/kinematics_base.h>
00060 
00061 namespace ompl_ros_interface
00062 {
00066 class OmplRosIKSampler
00067 {
00068 public:
00069 
00073   OmplRosIKSampler(): kinematics_loader_("kinematics_base","kinematics::KinematicsBase")
00074   {
00075   }
00076 
00085   bool initialize(const ompl::base::StateSpacePtr &state_space,
00086                   const std::string &kinematics_solver_name,
00087                   const std::string &group_name,
00088                   const std::string &end_effector_name,
00089                   const planning_environment::PlanningMonitor *planning_monitor);  
00090 
00097   bool configureOnRequest(const motion_planning_msgs::GetMotionPlan::Request &request,
00098                           motion_planning_msgs::GetMotionPlan::Response &response,
00099                           const unsigned int &max_sample_count = 100);
00100 
00106   bool sampleGoal(const ompl::base::GoalLazySamples *gls, ompl::base::State *state);
00107 
00113   bool sampleGoals(const ompl::base::GoalLazySamples *gls, ompl::base::State *state);
00114 
00115 private:
00116 
00117   std::vector<geometry_msgs::PoseStamped> ik_poses_;
00118   unsigned int max_sample_count_,num_samples_;
00119   unsigned int ik_poses_counter_;
00120   ompl::base::StateSpacePtr state_space_;
00121   kinematics::KinematicsBase* kinematics_solver_;
00122   
00123   std::string kinematics_solver_name_, group_name_, end_effector_name_;
00124   pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;
00125   boost::shared_ptr<ompl::base::ScopedState<ompl::base::CompoundStateSpace> > scoped_state_;
00126   motion_planning_msgs::RobotState seed_state_, solution_state_;
00127 
00128   ompl_ros_interface::OmplStateToRobotStateMapping ompl_state_to_robot_state_mapping_;
00129   ompl_ros_interface::RobotStateToOmplStateMapping robot_state_to_ompl_state_mapping_;
00130   const planning_environment::PlanningMonitor *planning_monitor_;
00131 
00132 };
00133 
00134 }
00135 
00136 #endif //OMPL_ROS_IK_SAMPLER_