planning_monitor.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef PLANNING_ENVIRONMENT_MONITORS_PLANNING_MONITOR_ 00038 #define PLANNING_ENVIRONMENT_MONITORS_PLANNING_MONITOR_ 00039 00040 #include "planning_environment/monitors/collision_space_monitor.h" 00041 #include <trajectory_msgs/JointTrajectory.h> 00042 #include <arm_navigation_msgs/Constraints.h> 00043 #include <arm_navigation_msgs/GetMotionPlan.h> 00044 #include <arm_navigation_msgs/ArmNavigationErrorCodes.h> 00045 #include <iostream> 00046 00047 namespace planning_environment 00048 { 00053 class PlanningMonitor : public CollisionSpaceMonitor 00054 { 00055 public: 00056 00057 PlanningMonitor(CollisionModels *cm, tf::TransformListener *tf) : CollisionSpaceMonitor(cm, tf) 00058 { 00059 loadParams(); 00060 use_collision_map_ = true; 00061 } 00062 00063 virtual ~PlanningMonitor(void) 00064 { 00065 } 00066 00067 bool getCompletePlanningScene(const arm_navigation_msgs::PlanningScene& planning_diff, 00068 const arm_navigation_msgs::OrderedCollisionOperations& ordered_collision_operations, 00069 arm_navigation_msgs::PlanningScene& planning_scene) const; 00070 00071 void getAllFixedFrameTransforms(std::vector<geometry_msgs::TransformStamped>& transform_vec) const; 00072 00073 protected: 00074 00076 void loadParams(void); 00077 00078 double intervalCollisionMap_; 00079 double intervalState_; 00080 double intervalPose_; 00081 }; 00082 } 00083 00084 #endif