ompl_ros.h

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#ifndef OMPL_ROS_H_
#define OMPL_ROS_H_

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

// Planning environment and models
#include <planning_environment/models/collision_models_interface.h>

// OMPL ROS Interface
#include <ompl_ros_interface/planners/ompl_ros_rpy_ik_task_space_planner.h>
#include <ompl_ros_interface/planners/ompl_ros_joint_planner.h>
#include <ompl_ros_interface/helpers/ompl_ros_conversions.h>

// Diagnostics Message
#include <ompl_ros_interface/OmplPlannerDiagnostics.h>

namespace ompl_ros_interface
{
class OmplRos
{
public:

  OmplRos();
  ~OmplRos();

  void run(void);

  boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup>& getPlanner(const std::string &group_name, 
                                                                          const std::string &planner_config_name);

private:

  bool computePlan(arm_navigation_msgs::GetMotionPlan::Request &request,
                   arm_navigation_msgs::GetMotionPlan::Response &response);

  bool getGroupNamesFromParamServer(const std::string &param_server_prefix,
                                    std::vector<std::string> &group_names);
  
  bool initialize(const std::string &param_server_prefix);
  
  bool initializePlanningMap(const std::string &param_server_prefix,
                             const std::vector<std::string> &group_names);
  
  bool initializePlanningInstance(const std::string &param_server_prefix,
                                  const std::string &group_name,
                                  const std::string &planner_config_name);    
  std::map<std::string,boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup> > planner_map_;

  // ROS interface 
  boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup> empty_ptr;
  ros::ServiceServer                     plan_path_service_;
  planning_environment::CollisionModelsInterface *collision_models_interface_;
  ros::NodeHandle                        node_handle_;
  std::string default_planner_config_;
  bool publish_diagnostics_;
  ros::Publisher diagnostic_publisher_;

};
}

#endif //OMPL_ROS_H_