plan_stage.cpp

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/* Author: Ioan Sucan */

#include <moveit/pick_place/pick_place.h>
#include <moveit/pick_place/plan_stage.h>
#include <moveit/kinematic_constraints/utils.h>
#include <ros/console.h>

namespace pick_place
{

PlanStage::PlanStage(const planning_scene::PlanningSceneConstPtr &scene,
                     const planning_pipeline::PlanningPipelinePtr &planning_pipeline) :
  ManipulationStage("plan"),
  planning_scene_(scene),
  planning_pipeline_(planning_pipeline)
{
}

void PlanStage::signalStop()
{
  ManipulationStage::signalStop();
  planning_pipeline_->terminate();
}

bool PlanStage::evaluate(const ManipulationPlanPtr &plan) const
{
  planning_interface::MotionPlanRequest req;
  planning_interface::MotionPlanResponse res;
  req.group_name = plan->shared_data_->planning_group_;
  req.num_planning_attempts = 1;
  req.allowed_planning_time = (plan->shared_data_->timeout_ - ros::WallTime::now()).toSec();
  req.path_constraints = plan->shared_data_->path_constraints_;
  req.planner_id = plan->shared_data_->planner_id_;

  req.goal_constraints.resize(1, kinematic_constraints::constructGoalConstraints(plan->approach_state_->getJointStateGroup(plan->shared_data_->planning_group_)));
  unsigned int attempts = 0;
  do
  {
    attempts++;
    if (!signal_stop_ && planning_pipeline_->generatePlan(planning_scene_, req, res) &&
        res.error_code_.val == moveit_msgs::MoveItErrorCodes::SUCCESS &&
        res.trajectory_ && !res.trajectory_->empty())
    {
      if (!plan->approach_posture_.name.empty())
      {
        robot_state::RobotStatePtr state(new robot_state::RobotState(res.trajectory_->getLastWayPoint()));
        state->setStateValues(plan->approach_posture_);
        robot_trajectory::RobotTrajectoryPtr traj(new robot_trajectory::RobotTrajectory(state->getRobotModel(), plan->shared_data_->end_effector_group_));
        traj->addSuffixWayPoint(state, PickPlace::DEFAULT_GRASP_POSTURE_COMPLETION_DURATION);
        plan_execution::ExecutableTrajectory et(traj, "pre_grasp");
        plan->trajectories_.insert(plan->trajectories_.begin(), et);
      }
      plan_execution::ExecutableTrajectory et(res.trajectory_, name_);
      plan->trajectories_.insert(plan->trajectories_.begin(), et);
      plan->error_code_ = res.error_code_;

      return true;
    }
    else
      plan->error_code_ = res.error_code_;
  }
  // if the planner reported an invalid plan, give it a second chance
  while (!signal_stop_ && plan->error_code_.val == moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN && attempts < 2);

  return false;
}

}