Program Listing for File planning_context_loader.h
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#pragma once
#include <pilz_industrial_motion_planner/limits_container.h>
#include <memory>
#include <vector>
#include <moveit/planning_interface/planning_interface.h>
#include <pilz_industrial_motion_planner/limits_container.h>
namespace pilz_industrial_motion_planner
{
class PlanningContextLoader
{
public:
PlanningContextLoader();
virtual ~PlanningContextLoader();
virtual std::string getAlgorithm() const;
virtual bool setModel(const moveit::core::RobotModelConstPtr& model);
virtual bool setLimits(const pilz_industrial_motion_planner::LimitsContainer& limits);
virtual bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
const std::string& group) const = 0;
protected:
template <typename T>
bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
const std::string& group) const;
protected:
std::string alg_;
bool limits_set_;
pilz_industrial_motion_planner::LimitsContainer limits_;
bool model_set_;
moveit::core::RobotModelConstPtr model_;
};
typedef std::shared_ptr<PlanningContextLoader> PlanningContextLoaderPtr;
typedef std::shared_ptr<const PlanningContextLoader> PlanningContextLoaderConstPtr;
template <typename T>
bool PlanningContextLoader::loadContext(planning_interface::PlanningContextPtr& planning_context,
const std::string& name, const std::string& group) const
{
if (limits_set_ && model_set_)
{
planning_context = std::make_shared<T>(name, group, model_, limits_);
return true;
}
else
{
if (!limits_set_)
{
RCLCPP_ERROR(rclcpp::get_logger("planning_context_loader"),
"Limits are not defined. Cannot load planning context. Call setLimits loadContext");
}
if (!model_set_)
{
RCLCPP_ERROR(rclcpp::get_logger("planning_context_loader"), "Robot model was not set");
}
return false;
}
}
} // namespace pilz_industrial_motion_planner