00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #include <moveit/planning_interface/planning_interface.h> 00038 #include <boost/thread/mutex.hpp> 00039 #include <set> 00040 00041 namespace 00042 { 00043 // keep track of currently active contexts 00044 struct ActiveContexts 00045 { 00046 boost::mutex mutex_; 00047 std::set<planning_interface::PlanningContext*> contexts_; 00048 }; 00049 00050 static ActiveContexts& getActiveContexts() 00051 { 00052 static ActiveContexts ac; 00053 return ac; 00054 } 00055 } 00056 00057 planning_interface::PlanningContext::PlanningContext(const std::string &name, const std::string &group) : 00058 name_(name), 00059 group_(group) 00060 { 00061 ActiveContexts &ac = getActiveContexts(); 00062 boost::mutex::scoped_lock _(ac.mutex_); 00063 ac.contexts_.insert(this); 00064 } 00065 00066 planning_interface::PlanningContext::~PlanningContext() 00067 { 00068 ActiveContexts &ac = getActiveContexts(); 00069 boost::mutex::scoped_lock _(ac.mutex_); 00070 ac.contexts_.erase(this); 00071 } 00072 00073 void planning_interface::PlanningContext::setPlanningScene(const planning_scene::PlanningSceneConstPtr &planning_scene) 00074 { 00075 planning_scene_ = planning_scene; 00076 } 00077 00078 void planning_interface::PlanningContext::setMotionPlanRequest(const MotionPlanRequest &request) 00079 { 00080 request_ = request; 00081 if (request_.allowed_planning_time <= 0.0) 00082 { 00083 logInform("The timeout for planning must be positive (%lf specified). Assuming one second instead.", request_.allowed_planning_time); 00084 request_.allowed_planning_time = 1.0; 00085 } 00086 if (request_.num_planning_attempts < 0) 00087 logError("The number of desired planning attempts should be positive. Assuming one attempt."); 00088 request_.num_planning_attempts = std::max(1, request_.num_planning_attempts); 00089 } 00090 00091 bool planning_interface::PlannerManager::initialize(const robot_model::RobotModelConstPtr &, const std::string &) 00092 { 00093 return true; 00094 } 00095 00096 std::string planning_interface::PlannerManager::getDescription() const 00097 { 00098 return ""; 00099 } 00100 00101 planning_interface::PlanningContextPtr planning_interface::PlannerManager::getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene, 00102 const MotionPlanRequest &req) const 00103 { 00104 moveit_msgs::MoveItErrorCodes dummy; 00105 return getPlanningContext(planning_scene, req, dummy); 00106 } 00107 00108 void planning_interface::PlannerManager::getPlanningAlgorithms(std::vector<std::string> &algs) const 00109 { 00110 // nothing by default 00111 algs.clear(); 00112 } 00113 00114 void planning_interface::PlannerManager::setPlannerConfigurations(const PlannerConfigurationMap &pcs) 00115 { 00116 config_settings_ = pcs; 00117 } 00118 00119 void planning_interface::PlannerManager::terminate() const 00120 { 00121 ActiveContexts &ac = getActiveContexts(); 00122 boost::mutex::scoped_lock _(ac.mutex_); 00123 for (std::set<PlanningContext*>::iterator it = ac.contexts_.begin() ; it != ac.contexts_.end() ; ++it) 00124 (*it)->terminate(); 00125 }