ompl_ros_ik_sampler.h

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#ifndef OMPL_ROS_IK_SAMPLER_H_
#define OMPL_ROS_IK_SAMPLER_H_

// OMPL
#include <ompl/base/goals/GoalSampleableRegion.h>
#include <ompl/base/goals/GoalLazySamples.h>
#include <ompl/base/ScopedState.h>
#include <ompl/base/State.h>

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

// OMPL ROS Interface
#include <ompl_ros_interface/ompl_ros_state_validity_checker.h>
#include <ompl_ros_interface/ompl_ros_projection_evaluator.h>
#include <ompl_ros_interface/ompl_ros_planner_config.h>
#include <ompl_ros_interface/helpers/ompl_ros_conversions.h>

// Kinematics
#include <pluginlib/class_loader.h>
#include <kinematics_base/kinematics_base.h>

namespace ompl_ros_interface
{
class OmplRosIKSampler
{
public:

  OmplRosIKSampler(): kinematics_loader_("kinematics_base","kinematics::KinematicsBase")
  {
  }

  bool initialize(const ompl::base::StateSpacePtr &state_space,
                  const std::string &kinematics_solver_name,
                  const std::string &group_name,
                  const std::string &end_effector_name,
                  const planning_environment::CollisionModelsInterface *cmi);

  bool configureOnRequest(const arm_navigation_msgs::GetMotionPlan::Request &request,
                          arm_navigation_msgs::GetMotionPlan::Response &response,
                          const unsigned int &max_sample_count = 100);

  bool sampleGoal(const ompl::base::GoalLazySamples *gls, ompl::base::State *state);

  bool sampleGoals(const ompl::base::GoalLazySamples *gls, ompl::base::State *state);

private:

  std::vector<geometry_msgs::PoseStamped> ik_poses_;
  unsigned int max_sample_count_,num_samples_;
  unsigned int ik_poses_counter_;
  ompl::base::StateSpacePtr state_space_;
  kinematics::KinematicsBase* kinematics_solver_;
  
  std::string kinematics_solver_name_, group_name_, end_effector_name_;
  pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;
  boost::shared_ptr<ompl::base::ScopedState<ompl::base::CompoundStateSpace> > scoped_state_;
  arm_navigation_msgs::RobotState seed_state_, solution_state_;

  ompl_ros_interface::OmplStateToRobotStateMapping ompl_state_to_robot_state_mapping_;
  ompl_ros_interface::RobotStateToOmplStateMapping robot_state_to_ompl_state_mapping_;
  const planning_environment::CollisionModelsInterface *collision_models_interface_;

};

}

#endif //OMPL_ROS_IK_SAMPLER_