kinematics_plugin_loader.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_KINEMATICS_PLUGIN_LOADER_
00038 #define MOVEIT_KINEMATICS_PLUGIN_LOADER_
00039 
00040 #include <boost/function.hpp>
00041 #include <boost/shared_ptr.hpp>
00042 #include <moveit/robot_model/robot_model.h>
00043 #include <moveit/kinematics_base/kinematics_base.h>
00044 
00045 namespace kinematics_plugin_loader
00046 {
00047 
00049 class KinematicsPluginLoader
00050 {
00051 public:
00052 
00058   KinematicsPluginLoader(const std::string &robot_description = "robot_description",
00059                          double default_search_resolution = 0.0) :
00060     robot_description_(robot_description),
00061     default_search_resolution_(default_search_resolution)
00062   {
00063   }
00064 
00072   KinematicsPluginLoader(const std::string &solver_plugin, double solve_timeout, unsigned int ik_attempts,
00073                          const std::string &robot_description = "robot_description",
00074                          double default_search_resolution = 0.0) :
00075     robot_description_(robot_description),
00076     default_search_resolution_(default_search_resolution),
00077     default_solver_plugin_(solver_plugin),
00078     default_solver_timeout_(solve_timeout),
00079     default_ik_attempts_(ik_attempts)
00080   {
00081   }
00082 
00084   robot_model::SolverAllocatorFn getLoaderFunction();
00085 
00087   robot_model::SolverAllocatorFn getLoaderFunction(const boost::shared_ptr<srdf::Model> &srdf_model);
00088 
00090   const std::vector<std::string>& getKnownGroups() const
00091   {
00092     return groups_;
00093   }
00094 
00096   const std::map<std::string, double>& getIKTimeout() const
00097   {
00098     return ik_timeout_;
00099   }
00100 
00102   const std::map<std::string, unsigned int>& getIKAttempts() const
00103   {
00104     return ik_attempts_;
00105   }
00106 
00107   void status() const;
00108 
00109 private:
00110 
00111   std::string robot_description_;
00112   double default_search_resolution_;
00113 
00114   class KinematicsLoaderImpl;
00115   boost::shared_ptr<KinematicsLoaderImpl> loader_;
00116 
00117   std::vector<std::string> groups_;
00118   std::map<std::string, double> ik_timeout_;
00119   std::map<std::string, unsigned int> ik_attempts_;
00120 
00121   // default configuration
00122   std::string default_solver_plugin_;
00123   double default_solver_timeout_;
00124   unsigned int default_ik_attempts_;
00125 };
00126 
00127 typedef boost::shared_ptr<KinematicsPluginLoader> KinematicsPluginLoaderPtr;
00128 typedef boost::shared_ptr<const KinematicsPluginLoader> KinematicsPluginLoaderConstPtr;
00129 
00130 }
00131 
00132 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 6 2014 02:31:39