planning_pipeline.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_
00038 #define MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_
00039 
00040 #include <moveit/planning_interface/planning_interface.h>
00041 #include <moveit/planning_request_adapter/planning_request_adapter.h>
00042 #include <pluginlib/class_loader.h>
00043 #include <boost/scoped_ptr.hpp>
00044 #include <ros/ros.h>
00045 
00047 namespace planning_pipeline
00048 {
00049 
00056 class PlanningPipeline
00057 {
00058 
00059 public:
00060 
00062   static const std::string DISPLAY_PATH_TOPIC;
00063 
00065   static const std::string MOTION_PLAN_REQUEST_TOPIC;
00066 
00068   static const std::string MOTION_CONTACTS_TOPIC;
00069 
00076   PlanningPipeline(const robot_model::RobotModelConstPtr& model,
00077                    const ros::NodeHandle &nh = ros::NodeHandle("~"),
00078                    const std::string &planning_plugin_param_name = "planning_plugin",
00079                    const std::string &adapter_plugins_param_name = "request_adapters");
00080 
00087   PlanningPipeline(const robot_model::RobotModelConstPtr& model,
00088                    const ros::NodeHandle &nh,
00089                    const std::string &planning_plugin_name,
00090                    const std::vector<std::string> &adapter_plugin_names);
00091 
00093   void displayComputedMotionPlans(bool flag);
00094 
00096   void publishReceivedRequests(bool flag);
00097   
00099   void checkSolutionPaths(bool flag);
00100   
00102   bool getDisplayComputedMotionPlans() const
00103   {
00104     return display_computed_motion_plans_;
00105   }
00106 
00108   bool getPublishReceivedRequests() const
00109   {
00110     return publish_received_requests_;
00111   }
00112 
00114   bool getCheckSolutionPaths() const
00115   {
00116     return check_solution_paths_;
00117   }
00118 
00123   bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
00124                     const planning_interface::MotionPlanRequest& req,
00125                     planning_interface::MotionPlanResponse& res) const;
00126 
00132   bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
00133                     const planning_interface::MotionPlanRequest& req,
00134                     planning_interface::MotionPlanResponse& res,
00135                     std::vector<std::size_t> &adapter_added_state_index) const;
00136 
00138   void terminate() const;
00139 
00141   const std::string& getPlannerPluginName() const
00142   {
00143     return planner_plugin_name_;
00144   }
00145 
00147   const std::vector<std::string>& getAdapterPluginNames() const
00148   {
00149     return adapter_plugin_names_;
00150   }
00151 
00153   const planning_interface::PlannerManagerPtr& getPlannerManager()
00154   {
00155     return planner_instance_;
00156   }
00157 
00159   const robot_model::RobotModelConstPtr& getRobotModel() const
00160   {
00161     return kmodel_;
00162   }
00163 
00164 private:
00165 
00166   void configure();
00167 
00168   ros::NodeHandle nh_;
00169 
00171   bool display_computed_motion_plans_;
00172   ros::Publisher display_path_publisher_;
00173 
00175   bool publish_received_requests_;
00176   ros::Publisher received_request_publisher_;
00177 
00178   boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader_;
00179   planning_interface::PlannerManagerPtr planner_instance_;
00180   std::string planner_plugin_name_;
00181 
00182   boost::scoped_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > adapter_plugin_loader_;
00183   boost::scoped_ptr<planning_request_adapter::PlanningRequestAdapterChain> adapter_chain_;
00184   std::vector<std::string> adapter_plugin_names_;
00185 
00186   robot_model::RobotModelConstPtr kmodel_;
00187 
00189   bool check_solution_paths_;
00190   ros::Publisher contacts_publisher_;
00191 
00192 };
00193 
00194 MOVEIT_CLASS_FORWARD(PlanningPipeline);
00195 
00196 }
00197 
00198 #endif


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