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 #ifndef MOVEIT_MOVE_GROUP_CONTEXT_ 00038 #define MOVEIT_MOVE_GROUP_CONTEXT_ 00039 00040 #include <moveit/macros/class_forward.h> 00041 00042 namespace planning_scene_monitor 00043 { 00044 MOVEIT_CLASS_FORWARD(PlanningSceneMonitor); 00045 } 00046 00047 namespace planning_pipeline 00048 { 00049 MOVEIT_CLASS_FORWARD(PlanningPipeline); 00050 } 00051 00052 namespace plan_execution 00053 { 00054 MOVEIT_CLASS_FORWARD(PlanExecution); 00055 MOVEIT_CLASS_FORWARD(PlanWithSensing); 00056 } 00057 00058 namespace trajectory_execution_manager 00059 { 00060 MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager); 00061 } 00062 00063 namespace move_group 00064 { 00065 00066 struct MoveGroupContext 00067 { 00068 MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, 00069 bool allow_trajectory_execution = false, 00070 bool debug = false); 00071 ~MoveGroupContext(); 00072 00073 bool status() const; 00074 00075 planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_; 00076 trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_; 00077 planning_pipeline::PlanningPipelinePtr planning_pipeline_; 00078 plan_execution::PlanExecutionPtr plan_execution_; 00079 plan_execution::PlanWithSensingPtr plan_with_sensing_; 00080 bool allow_trajectory_execution_; 00081 bool debug_; 00082 }; 00083 00084 typedef boost::shared_ptr<MoveGroupContext> MoveGroupContextPtr; 00085 00086 } 00087 00088 #endif