plan_representation.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
#define MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_

#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit_msgs/MoveItErrorCodes.h>
#include <boost/function.hpp>

namespace plan_execution
{

struct ExecutableMotionPlan;

struct ExecutableTrajectory
{
  ExecutableTrajectory() :
    trajectory_monitoring_(true)
  {
  }

  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr &trajectory,
                       const std::string &description) :
    trajectory_(trajectory),
    description_(description),
    trajectory_monitoring_(true)
  {
  }

  robot_trajectory::RobotTrajectoryPtr trajectory_;
  std::string description_;
  bool trajectory_monitoring_;
  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
  boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
};

struct ExecutableMotionPlan
{
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  planning_scene::PlanningSceneConstPtr planning_scene_;

  std::vector<ExecutableTrajectory> plan_components_;

  // The trace of the trajectory recorded during execution
  robot_trajectory::RobotTrajectoryPtr executed_trajectory_;

  moveit_msgs::MoveItErrorCodes error_code_;
};

typedef boost::function<bool(ExecutableMotionPlan &plan)> ExecutableMotionPlanComputationFn;

}
#endif