ompl_ros_interface: ompl_ros_ik_goal_sampleable

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00034 
00037 #ifndef OMPL_ROS_IK_GOAL_SAMPLEABLE_H_
00038 #define OMPL_ROS_IK_GOAL_SAMPLEABLE_H_
00039 
00040 // OMPL
00041 #include <ompl/base/goals/GoalSampleableRegion.h>
00042 #include <ompl/base/ScopedState.h>
00043 #include <ompl/base/State.h>
00044 
00045 // Planning environment and models
00046 #include <planning_environment/models/collision_models_interface.h>
00047 #include <planning_models/kinematic_model.h>
00048 #include <planning_models/kinematic_state.h>
00049 
00050 // OMPL ROS Interface
00051 #include <ompl_ros_interface/ompl_ros_state_validity_checker.h>
00052 #include <ompl_ros_interface/ompl_ros_projection_evaluator.h>
00053 #include <ompl_ros_interface/ompl_ros_planner_config.h>
00054 
00055 #include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
00056 
00057 // Kinematics
00058 #include <pluginlib/class_loader.h>
00059 #include <kinematics_base/kinematics_base.h>
00060 
00061 namespace ompl_ros_interface
00062 {
00067 class OmplRosIKSampleableRegion : public ompl::base::GoalSampleableRegion
00068 {
00069 public:
00074   OmplRosIKSampleableRegion(const ompl::base::SpaceInformationPtr &space_information)
00075     : GoalSampleableRegion(space_information), 
00076       kinematics_loader_("kinematics_base","kinematics::KinematicsBase"),
00077       scoped_state_(space_information)  
00078   {
00079   }
00080 
00089   bool initialize(const ompl::base::StateSpacePtr &state_space,
00090                   const std::string &kinematics_solver_name,
00091                   const std::string &group_name,
00092                   const std::string &end_effector_name,
00093                   const planning_environment::CollisionModelsInterface* cmi);
00094 
00101   bool configureOnRequest(const arm_navigation_msgs::GetMotionPlan::Request &request,
00102                           arm_navigation_msgs::GetMotionPlan::Response &response,
00103                           const unsigned int &max_sample_count = 100);
00104 
00109   virtual void sampleGoal(ompl::base::State *state) const;
00110 
00115   virtual unsigned int maxSampleCount(void) const;
00116 
00117 private:
00118   void sampleGoals(const unsigned int &number_goals,
00119                    std::vector<arm_navigation_msgs::RobotState> &sampled_states_vector) const;
00120 
00121   std::vector<geometry_msgs::PoseStamped> ik_poses_;
00122   unsigned int max_sample_count_;
00123   unsigned int ik_poses_counter_;
00124   ompl::base::StateSpacePtr state_space_;
00125   kinematics::KinematicsBase* kinematics_solver_;
00126   
00127   std::string kinematics_solver_name_, group_name_, end_effector_name_;
00128   pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;
00129   ompl::base::ScopedState<ompl::base::CompoundStateSpace> scoped_state_;
00130   arm_navigation_msgs::RobotState seed_state_, solution_state_;
00131 
00132   ompl_ros_interface::OmplStateToRobotStateMapping ompl_state_to_robot_state_mapping_;
00133   ompl_ros_interface::RobotStateToOmplStateMapping robot_state_to_ompl_state_mapping_;
00134   const planning_environment::CollisionModelsInterface* collision_models_interface_;
00135 
00136 };
00137 
00138 }
00139 
00140 #endif //OMPL_ROS_IK_GOAL_SAMPLEABLE_H_