collision_models_interface.h

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#ifndef PLANNING_ENVIRONMENT_MODELS_COLLISION_MODELS_INTERFACE_
#define PLANNING_ENVIRONMENT_MODELS_COLLISION_MODELS_INTERFACE_

#include "planning_environment/models/collision_models.h"
#include "planning_environment/models/robot_models.h"
#include <arm_navigation_msgs/SyncPlanningSceneAction.h>
#include <actionlib/server/simple_action_server.h>

namespace planning_environment
{

class CollisionModelsInterface : public CollisionModels
{
public:

  //
  // Constructors
  //
        
  CollisionModelsInterface(const std::string &description, bool register_with_server = true);

  virtual ~CollisionModelsInterface(void);
 
  void syncPlanningSceneCallback(const arm_navigation_msgs::SyncPlanningSceneGoalConstPtr& scene);

  bool setPlanningSceneWithCallbacks(const arm_navigation_msgs::PlanningScene& scene);
  
  void addSetPlanningSceneCallback(const boost::function<void(const arm_navigation_msgs::PlanningScene &scene)> &callback)
  {
    set_planning_scene_callback_ = callback;
  }

  void addRevertPlanningSceneCallback(const boost::function<void(void)> &callback) 
  {
    revert_planning_scene_callback_ = callback;
  }

  planning_models::KinematicState* getPlanningSceneState() const{
    return planning_scene_state_;
  }

  void resetToStartState(planning_models::KinematicState& state) const;

  const arm_navigation_msgs::PlanningScene& getLastPlanningScene() const {
    return last_planning_scene_;
  }

  collision_space::EnvironmentModel* getOde() {
    return ode_collision_model_;
  }
  
protected:

  planning_models::KinematicState* planning_scene_state_;
  arm_navigation_msgs::PlanningScene last_planning_scene_;

  boost::function<void(const arm_navigation_msgs::PlanningScene &scene)> set_planning_scene_callback_;
  boost::function<void(void)> revert_planning_scene_callback_;
  ros::ServiceClient env_server_register_client_;

  actionlib::SimpleActionServer<arm_navigation_msgs::SyncPlanningSceneAction> *action_server_;
};

}

#endif