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, Sachin Chitta */ 00036 00037 #ifndef MOVEIT_PICK_PLACE_MANIPULATION_STAGE_ 00038 #define MOVEIT_PICK_PLACE_MANIPULATION_STAGE_ 00039 00040 #include <moveit/pick_place/manipulation_plan.h> 00041 #include <string> 00042 00043 namespace pick_place 00044 { 00045 00046 class ManipulationStage 00047 { 00048 public: 00049 00050 ManipulationStage(const std::string &name) : 00051 name_(name), 00052 signal_stop_(false), 00053 verbose_(false) 00054 { 00055 } 00056 00057 virtual ~ManipulationStage() 00058 { 00059 } 00060 00061 const std::string& getName() const 00062 { 00063 return name_; 00064 } 00065 00066 void setVerbose(bool flag) 00067 { 00068 verbose_ = flag; 00069 } 00070 00071 virtual void resetStopSignal() 00072 { 00073 signal_stop_ = false; 00074 } 00075 00076 virtual void signalStop() 00077 { 00078 signal_stop_ = true; 00079 } 00080 00081 virtual bool evaluate(const ManipulationPlanPtr &plan) const = 0; 00082 00083 protected: 00084 00085 std::string name_; 00086 bool signal_stop_; 00087 bool verbose_; 00088 }; 00089 00090 typedef boost::shared_ptr<ManipulationStage> ManipulationStagePtr; 00091 typedef boost::shared_ptr<const ManipulationStage> ManipulationStageConstPtr; 00092 00093 } 00094 00095 #endif