ompl_ros_interface: ompl_ros_state_validity

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00034 
00037 #include <ompl_ros_interface/ompl_ros_state_validity_checker.h>
00038 
00039 namespace ompl_ros_interface
00040 {    
00041 void OmplRosStateValidityChecker::configureOnRequest(planning_models::KinematicState *kinematic_state,
00042                                                      planning_models::KinematicState::JointStateGroup *joint_state_group,
00043                                                      const motion_planning_msgs::GetMotionPlan::Request &request)
00044 {
00045   kinematic_state_ = kinematic_state;
00046   joint_state_group_ = joint_state_group;
00047 
00048   goal_constraint_evaluator_set_.clear();
00049   path_constraint_evaluator_set_.clear();
00050 
00051   //Get the valid set of constraints that correspond to constraints on the physical joints and links of the robot
00052   motion_planning_msgs::Constraints goal_constraints = getPhysicalConstraints(request.motion_plan_request.goal_constraints);
00053   motion_planning_msgs::Constraints path_constraints = getPhysicalConstraints(request.motion_plan_request.path_constraints);
00054 
00055   goal_constraint_evaluator_set_.add(goal_constraints.joint_constraints);
00056   goal_constraint_evaluator_set_.add(goal_constraints.position_constraints);
00057   goal_constraint_evaluator_set_.add(goal_constraints.orientation_constraints);
00058   goal_constraint_evaluator_set_.add(goal_constraints.visibility_constraints);
00059 
00060   path_constraint_evaluator_set_.add(path_constraints.joint_constraints);
00061   path_constraint_evaluator_set_.add(path_constraints.position_constraints);
00062   path_constraint_evaluator_set_.add(path_constraints.orientation_constraints);
00063   path_constraint_evaluator_set_.add(path_constraints.visibility_constraints);
00064 }
00065 
00066 motion_planning_msgs::Constraints OmplRosStateValidityChecker::getPhysicalConstraints(const motion_planning_msgs::Constraints &constraints)
00067 {
00068   motion_planning_msgs::Constraints result_constraints;
00069   for(unsigned int i=0; i < constraints.joint_constraints.size(); i++)
00070     if(planning_monitor_->getKinematicModel()->hasJointModel(constraints.joint_constraints[i].joint_name))
00071       result_constraints.joint_constraints.push_back(constraints.joint_constraints[i]);
00072 
00073   for(unsigned int i=0; i < constraints.position_constraints.size(); i++)
00074     if(planning_monitor_->getKinematicModel()->hasLinkModel(constraints.position_constraints[i].link_name))
00075       result_constraints.position_constraints.push_back(constraints.position_constraints[i]);
00076 
00077   for(unsigned int i=0; i < constraints.orientation_constraints.size(); i++)
00078     if(planning_monitor_->getKinematicModel()->hasLinkModel(constraints.orientation_constraints[i].link_name))
00079       result_constraints.orientation_constraints.push_back(constraints.orientation_constraints[i]);
00080 
00081   for(unsigned int i=0; i < constraints.visibility_constraints.size(); i++)
00082     if(planning_monitor_->getKinematicModel()->hasLinkModel(constraints.visibility_constraints[i].sensor_pose.header.frame_id))
00083       result_constraints.visibility_constraints.push_back(constraints.visibility_constraints[i]);
00084 
00085   return result_constraints;
00086 }
00087 
00088 void OmplRosStateValidityChecker::printSettings(std::ostream &out) const
00089 {    
00090   out << "ROS State Validity Checker" << std::endl;
00091 }
00092 
00093 }
ompl_ros_state_validity_checker.cpp
