ompl_ros_state_transformer.h

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#ifndef OMPL_ROS_STATE_TRANSFORMER_H_
#define OMPL_ROS_STATE_TRANSFORMER_H_

#include <ros/ros.h>
#include <ros/console.h>

#include <ompl/base/StateSpace.h>
#include <ompl/base/ScopedState.h>
#include <ompl/base/State.h>

#include <motion_planning_msgs/convert_messages.h>
#include <motion_planning_msgs/GetMotionPlan.h>

#include <planning_models/kinematic_model.h>
#include <planning_models/kinematic_state.h>

namespace ompl_ros_interface
{
class OmplRosStateTransformer
{
public:
  OmplRosStateTransformer(const ompl::base::StateSpacePtr &state_space,
                          const planning_models::KinematicModel::JointModelGroup *physical_joint_model_group)
  {
    state_space_ = state_space;
    physical_joint_model_group_ = physical_joint_model_group;
  }

  ~OmplRosStateTransformer(){}

  virtual bool initialize() = 0;
 
  virtual bool configureOnRequest(const motion_planning_msgs::GetMotionPlan::Request &request,
                                  motion_planning_msgs::GetMotionPlan::Response &response) = 0;

  virtual bool inverseTransform(const ompl::base::State &ompl_state,
                                motion_planning_msgs::RobotState &robot_state) = 0;

  virtual bool forwardTransform(const motion_planning_msgs::RobotState &robot_state,
                                ompl::base::State &ompl_state) = 0;

  virtual std::string getFrame(){ return std::string(" ");};

  virtual  motion_planning_msgs::RobotState getDefaultState() = 0;

protected:
  ompl::base::StateSpacePtr state_space_;
  const planning_models::KinematicModel::JointModelGroup* physical_joint_model_group_;
};

}

#endif //OMPL_ROS_STATE_TRANSFORMER_H_

---

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