ompl_ros_state_transformer.h
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00034 
00037 #ifndef OMPL_ROS_STATE_TRANSFORMER_H_
00038 #define OMPL_ROS_STATE_TRANSFORMER_H_
00039 
00040 #include <ros/ros.h>
00041 #include <ros/console.h>
00042 
00043 #include <ompl/base/StateSpace.h>
00044 #include <ompl/base/ScopedState.h>
00045 #include <ompl/base/State.h>
00046 
00047 #include <arm_navigation_msgs/convert_messages.h>
00048 #include <arm_navigation_msgs/GetMotionPlan.h>
00049 
00050 #include <planning_models/kinematic_model.h>
00051 #include <planning_models/kinematic_state.h>
00052 
00053 namespace ompl_ros_interface
00054 {
00058 class OmplRosStateTransformer
00059 {
00060 public:
00067   OmplRosStateTransformer(const ompl::base::StateSpacePtr &state_space,
00068                           const planning_models::KinematicModel::JointModelGroup *physical_joint_model_group)
00069   {
00070     state_space_ = state_space;
00071     physical_joint_model_group_ = physical_joint_model_group;
00072   }
00073 
00077   ~OmplRosStateTransformer(){}
00078 
00082   virtual bool initialize() = 0;
00083  
00090   virtual bool configureOnRequest(const arm_navigation_msgs::GetMotionPlan::Request &request,
00091                                   arm_navigation_msgs::GetMotionPlan::Response &response) = 0;
00092 
00098   virtual bool inverseTransform(const ompl::base::State &ompl_state,
00099                                 arm_navigation_msgs::RobotState &robot_state) = 0;
00100 
00106   virtual bool forwardTransform(const arm_navigation_msgs::RobotState &robot_state,
00107                                 ompl::base::State &ompl_state) = 0;
00108 
00112   virtual std::string getFrame(){ return std::string(" ");};
00113 
00117   virtual  arm_navigation_msgs::RobotState getDefaultState() = 0;
00118 
00119 protected:
00120   ompl::base::StateSpacePtr state_space_;
00121   const planning_models::KinematicModel::JointModelGroup* physical_joint_model_group_;
00122 };
00123 
00124 }
00125 
00126 #endif //OMPL_ROS_STATE_TRANSFORMER_H_


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:58