ompl_ros_joint_planner.h

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#ifndef OMPL_ROS_JOINT_PLANNER_H_
#define OMPL_ROS_JOINT_PLANNER_H_

// OMPL ROS Interface
#include <ompl_ros_interface/state_validity_checkers/ompl_ros_joint_state_validity_checker.h>
#include <ompl_ros_interface/ompl_ros_planning_group.h>
#include <ompl_ros_interface/ik/ompl_ros_ik_sampler.h>

// OMPL
#include <ompl/base/GoalLazySamples.h>

namespace ompl_ros_interface
{
  class OmplRosJointPlanner: public OmplRosPlanningGroup
  {
  public:
    
    OmplRosJointPlanner():ik_sampler_available_(false){}
    ~OmplRosJointPlanner(){}

  protected:

    virtual bool isRequestValid(motion_planning_msgs::GetMotionPlan::Request &request,
                                motion_planning_msgs::GetMotionPlan::Response &response);

    virtual bool setStart(motion_planning_msgs::GetMotionPlan::Request &request,
                          motion_planning_msgs::GetMotionPlan::Response &response);

    virtual bool setGoal(motion_planning_msgs::GetMotionPlan::Request &request,
                         motion_planning_msgs::GetMotionPlan::Response &response);

    virtual bool initializeStateValidityChecker(ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker);

    virtual bool initializePlanningStateSpace(ompl::base::StateSpacePtr &state_space);

    virtual motion_planning_msgs::RobotTrajectory getSolutionPath();

  private:

    //Mappings in between ompl state and robot state, these are used for efficiency
    motion_planning_msgs::RobotState robot_state_; //message representation of the state that this class is planning for
    ompl_ros_interface::OmplStateToRobotStateMapping ompl_state_to_robot_state_mapping_;
    ompl_ros_interface::RobotStateToOmplStateMapping robot_state_to_ompl_state_mapping_;

    //Mappings between ompl state and kinematic state, these are used for efficiency
    ompl_ros_interface::OmplStateToKinematicStateMapping ompl_state_to_kinematic_state_mapping_;
    ompl_ros_interface::KinematicStateToOmplStateMapping kinematic_state_to_ompl_state_mapping_;

    bool setPoseGoal(motion_planning_msgs::GetMotionPlan::Request &request,
                     motion_planning_msgs::GetMotionPlan::Response &response);
    
    bool setJointGoal(motion_planning_msgs::GetMotionPlan::Request &request,
                      motion_planning_msgs::GetMotionPlan::Response &response);
    
    std::string kinematics_solver_name_;

    std::string end_effector_name_;

    ompl_ros_interface::OmplRosIKSampler ik_sampler_;

    bool ik_sampler_available_;

  };
}
#endif //OMPL_ROS_JOINT_PLANNER_H_

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ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Fri Jan 11 10:07:55 2013