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_response.h> 00038 #include <moveit/robot_state/conversions.h> 00039 00040 void planning_interface::MotionPlanResponse::getMessage(moveit_msgs::MotionPlanResponse &msg) const 00041 { 00042 msg.error_code = error_code_; 00043 msg.planning_time = planning_time_; 00044 if (trajectory_ && !trajectory_->empty()) 00045 { 00046 robot_state::robotStateToRobotStateMsg(trajectory_->getFirstWayPoint(), msg.trajectory_start); 00047 trajectory_->getRobotTrajectoryMsg(msg.trajectory); 00048 msg.group_name = trajectory_->getGroupName(); 00049 } 00050 } 00051 00052 void planning_interface::MotionPlanDetailedResponse::getMessage(moveit_msgs::MotionPlanDetailedResponse &msg) const 00053 { 00054 msg.error_code = error_code_; 00055 00056 msg.trajectory.clear(); 00057 msg.description.clear(); 00058 msg.processing_time.clear(); 00059 00060 bool first = true; 00061 00062 for (std::size_t i = 0 ; i < trajectory_.size() ; ++i) 00063 { 00064 if (trajectory_[i]->empty()) 00065 continue; 00066 if (first) 00067 { 00068 first = false; 00069 robot_state::robotStateToRobotStateMsg(trajectory_[i]->getFirstWayPoint(), msg.trajectory_start); 00070 msg.group_name = trajectory_[i]->getGroupName(); 00071 } 00072 msg.trajectory.resize(msg.trajectory.size() + 1); 00073 trajectory_[i]->getRobotTrajectoryMsg(msg.trajectory.back()); 00074 if (description_.size() > i) 00075 msg.description.push_back(description_[i]); 00076 if (processing_time_.size() > i) 00077 msg.processing_time.push_back(processing_time_[i]); 00078 } 00079 }