moveit_config_data.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_MOVEIT_CONFIG_DATA_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_MOVEIT_CONFIG_DATA_

#include <boost/shared_ptr.hpp>
#include <srdfdom/model.h> // use their struct datastructures
#include <urdf/model.h> // to share throughout app
#include <moveit/setup_assistant/tools/srdf_writer.h> // for writing srdf data
#include <moveit/planning_scene/planning_scene.h> // for getting kinematic model
#include <moveit/collision_detection/collision_matrix.h> // for figuring out if robot is in collision

namespace moveit_setup_assistant
{

// ******************************************************************************************
// Constants
// ******************************************************************************************

// Used for loading kinematic model
static const std::string ROBOT_DESCRIPTION = "robot_description";
static const std::string MOVEIT_ROBOT_STATE = "moveit_robot_state";

// Default kin solver values
static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005;
static const double DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005;
static const int    DEFAULT_KIN_SOLVER_ATTEMPTS_ = 3;


// ******************************************************************************************
// Structs
// ******************************************************************************************

struct GroupMetaData
{
  std::string kinematics_solver_; // Name of kinematics plugin to use
  double kinematics_solver_search_resolution_; // resolution to use with solver
  double kinematics_solver_timeout_; // solver timeout
  int kinematics_solver_attempts_; // solver attempts
};

// ******************************************************************************************
// Forward Declarations
// ******************************************************************************************
//class urdf::Model;

// ******************************************************************************************
// Class
// ******************************************************************************************
class MoveItConfigData
{
public:
  MoveItConfigData();
  ~MoveItConfigData();

  // All of the data needed for creating a MoveIt Configuration Files

  // ******************************************************************************************
  // URDF Data
  // ******************************************************************************************

  std::string urdf_path_;

  std::string urdf_pkg_name_;

  std::string urdf_pkg_relative_path_;

  bool urdf_from_xacro_;

  boost::shared_ptr<urdf::Model> urdf_model_;

  // ******************************************************************************************
  // SRDF Data
  // ******************************************************************************************

  std::string srdf_path_;

  std::string srdf_pkg_relative_path_;

  SRDFWriterPtr srdf_;

  // ******************************************************************************************
  // Other Data
  // ******************************************************************************************

  std::map<std::string, GroupMetaData> group_meta_data_;

  std::string setup_assistant_path_;

  std::string config_pkg_path_;

  std::string template_package_path_;

  bool debug_;

  collision_detection::AllowedCollisionMatrix allowed_collision_matrix_;

  std::time_t config_pkg_generated_timestamp_;

  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  robot_model::RobotModelConstPtr getRobotModel();

  void updateRobotModel();

  planning_scene::PlanningScenePtr getPlanningScene();

  srdf::Model::Group* findGroupByName( const std::string &name );

  void loadAllowedCollisionMatrix();

  // ******************************************************************************************
  // Public Functions for outputting configuration and setting files
  // ******************************************************************************************
  bool outputSetupAssistantFile( const std::string& file_path );
  bool outputOMPLPlanningYAML( const std::string& file_path );
  bool outputKinematicsYAML( const std::string& file_path );
  bool outputJointLimitsYAML( const std::string& file_path );

  std::string decideProjectionJoints(std::string planning_group);

  bool inputKinematicsYAML( const std::string& file_path );

  bool inputSetupAssistantYAML( const std::string& file_path );

  std::string appendPaths( const std::string &path1, const std::string &path2 );

private:

  // ******************************************************************************************
  // Private Vars
  // ******************************************************************************************

  // Shared kinematic model
  robot_model::RobotModelPtr kin_model_;
  robot_model::RobotModelConstPtr kin_model_const_;

  // Shared planning scene
  planning_scene::PlanningScenePtr planning_scene_;
};

typedef boost::shared_ptr<MoveItConfigData> MoveItConfigDataPtr;


} // namespace

#endif