ompl_ros_state_validity_checker.cpp

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#include <ompl_ros_interface/ompl_ros_state_validity_checker.h>

namespace ompl_ros_interface
{    
void OmplRosStateValidityChecker::configureOnRequest(planning_models::KinematicState *kinematic_state,
                                                     planning_models::KinematicState::JointStateGroup *joint_state_group,
                                                     const arm_navigation_msgs::GetMotionPlan::Request &request)
{
  kinematic_state_ = kinematic_state;
  joint_state_group_ = joint_state_group;

  goal_constraint_evaluator_set_.clear();
  path_constraint_evaluator_set_.clear();

  //Get the valid set of constraints that correspond to constraints on the physical joints and links of the robot
  arm_navigation_msgs::Constraints goal_constraints = getPhysicalConstraints(request.motion_plan_request.goal_constraints);
  arm_navigation_msgs::Constraints path_constraints = getPhysicalConstraints(request.motion_plan_request.path_constraints);

  goal_constraint_evaluator_set_.add(goal_constraints.joint_constraints);
  goal_constraint_evaluator_set_.add(goal_constraints.position_constraints);
  goal_constraint_evaluator_set_.add(goal_constraints.orientation_constraints);
  goal_constraint_evaluator_set_.add(goal_constraints.visibility_constraints);

  path_constraint_evaluator_set_.add(path_constraints.joint_constraints);
  path_constraint_evaluator_set_.add(path_constraints.position_constraints);
  path_constraint_evaluator_set_.add(path_constraints.orientation_constraints);
  path_constraint_evaluator_set_.add(path_constraints.visibility_constraints);
}

arm_navigation_msgs::Constraints OmplRosStateValidityChecker::getPhysicalConstraints(const arm_navigation_msgs::Constraints &constraints)
{
  arm_navigation_msgs::Constraints result_constraints;
  for(unsigned int i=0; i < constraints.joint_constraints.size(); i++)
    if(collision_models_interface_->getKinematicModel()->hasJointModel(constraints.joint_constraints[i].joint_name))
      result_constraints.joint_constraints.push_back(constraints.joint_constraints[i]);

  for(unsigned int i=0; i < constraints.position_constraints.size(); i++)
    if(collision_models_interface_->getKinematicModel()->hasLinkModel(constraints.position_constraints[i].link_name))
      result_constraints.position_constraints.push_back(constraints.position_constraints[i]);

  for(unsigned int i=0; i < constraints.orientation_constraints.size(); i++)
    if(collision_models_interface_->getKinematicModel()->hasLinkModel(constraints.orientation_constraints[i].link_name))
      result_constraints.orientation_constraints.push_back(constraints.orientation_constraints[i]);

  for(unsigned int i=0; i < constraints.visibility_constraints.size(); i++)
    if(collision_models_interface_->getKinematicModel()->hasLinkModel(constraints.visibility_constraints[i].sensor_pose.header.frame_id))
      result_constraints.visibility_constraints.push_back(constraints.visibility_constraints[i]);

  return result_constraints;
}

void OmplRosStateValidityChecker::printSettings(std::ostream &out) const
{    
  out << "ROS State Validity Checker" << std::endl;
}

}