plan_with_sensing.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLAN_EXECUTION_PLAN_WITH_SENSING_
#define MOVEIT_PLAN_EXECUTION_PLAN_WITH_SENSING_

#include <moveit/plan_execution/plan_representation.h>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>

#include <moveit/planning_scene_monitor/trajectory_monitor.h>
#include <moveit/sensor_manager/sensor_manager.h>
#include <pluginlib/class_loader.h>
#include <boost/scoped_ptr.hpp>

namespace plan_execution
{

class PlanWithSensing
{
public:

  PlanWithSensing(const trajectory_execution_manager::TrajectoryExecutionManagerPtr& trajectory_execution);
  ~PlanWithSensing();

  const trajectory_execution_manager::TrajectoryExecutionManagerPtr& getTrajectoryExecutionManager() const
  {
    return trajectory_execution_manager_;
  }

  bool computePlan(ExecutableMotionPlan &plan, const ExecutableMotionPlanComputationFn &motion_planner, unsigned int max_look_attempts, double max_safe_path_cost);

  double getMaxSafePathCost() const
  {
    return default_max_safe_path_cost_;
  }

  void setMaxSafePathCost(double max_safe_path_cost)
  {
    default_max_safe_path_cost_ = max_safe_path_cost;
  }

  void setMaxLookAttempts(unsigned int attempts)
  {
    default_max_look_attempts_ = attempts;
  }

  unsigned int getMaxLookAttempts() const
  {
    return default_max_look_attempts_;
  }

  unsigned int getMaxCostSources() const
  {
    return max_cost_sources_;
  }

  void setMaxCostSources(unsigned int value)
  {
    max_cost_sources_ = value;
  }

  double getDiscardOverlappingCostSources() const
  {
    return discard_overlapping_cost_sources_;
  }

  void setDiscardOverlappingCostSources(double value)
  {
    discard_overlapping_cost_sources_ = value;
  }

  void setBeforeLookCallback(const boost::function<void()> &callback)
  {
    before_look_callback_ = callback;
  }

  void displayCostSources(bool flag);

private:

  bool lookAt(const std::set<collision_detection::CostSource> &cost_sources, const std::string &frame_id);

  ros::NodeHandle node_handle_;
  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;

  boost::scoped_ptr<pluginlib::ClassLoader<moveit_sensor_manager::MoveItSensorManager> > sensor_manager_loader_;
  moveit_sensor_manager::MoveItSensorManagerPtr sensor_manager_;
  unsigned int default_max_look_attempts_;
  double default_max_safe_path_cost_;

  double discard_overlapping_cost_sources_;
  unsigned int max_cost_sources_;

  bool display_cost_sources_;
  ros::Publisher cost_sources_publisher_;

  boost::function<void()> before_look_callback_;

  class DynamicReconfigureImpl;
  DynamicReconfigureImpl *reconfigure_impl_;
};

typedef boost::shared_ptr<PlanWithSensing> PlanWithSensingPtr;
typedef boost::shared_ptr<const PlanWithSensing> PlanWithSensingConstPtr;

}
#endif