move_group_capability.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2012, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_CAPABILITY_
00039 
00040 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00041 #include <moveit/planning_interface/planning_interface.h>
00042 #include <moveit/plan_execution/plan_representation.h>
00043 #include <moveit/move_group/move_group_context.h>
00044 
00045 namespace move_group
00046 {
00047 
00048 enum MoveGroupState
00049   {
00050     IDLE,
00051     PLANNING,
00052     MONITOR,
00053     LOOK
00054   };
00055 
00056 class MoveGroupCapability
00057 {
00058 public:
00059 
00060   MoveGroupCapability(const std::string &capability_name) :
00061     node_handle_("~"),
00062     capability_name_(capability_name)
00063   {
00064   }
00065 
00066   virtual ~MoveGroupCapability()
00067   {
00068   }
00069 
00070   void setContext(const MoveGroupContextPtr &context);
00071 
00072   virtual void initialize() = 0;
00073 
00074   const std::string& getName() const
00075   {
00076     return capability_name_;
00077   }
00078 
00079 protected:
00080 
00081   std::string getActionResultString(const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only);
00082   std::string stateToStr(MoveGroupState state) const;
00083 
00084   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory> &trajectory,
00085                     moveit_msgs::RobotState &first_state_msg, std::vector<moveit_msgs::RobotTrajectory> &trajectory_msg) const;
00086   void convertToMsg(const robot_trajectory::RobotTrajectoryPtr &trajectory,
00087                     moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const;
00088   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory> &trajectory,
00089                     moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const;
00090 
00091   planning_interface::MotionPlanRequest clearRequestStartState(const planning_interface::MotionPlanRequest &request) const;
00092   moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene &scene) const;
00093   bool performTransform(geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const;
00094 
00095   ros::NodeHandle root_node_handle_;
00096   ros::NodeHandle node_handle_;
00097   std::string capability_name_;
00098   MoveGroupContextPtr context_;
00099 };
00100 
00101 }
00102 
00103 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 6 2014 02:32:44