move_group.h

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/* Author: Ioan Sucan, Sachin Chitta */

#ifndef MOVEIT_MOVE_GROUP_INTERFACE_MOVE_GROUP_
#define MOVEIT_MOVE_GROUP_INTERFACE_MOVE_GROUP_

#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/RobotTrajectory.h>
#include <moveit_msgs/RobotState.h>
#include <moveit_msgs/PlannerInterfaceDescription.h>
#include <moveit_msgs/Constraints.h>
#include <moveit_msgs/Grasp.h>
#include <moveit_msgs/PlaceLocation.h>
#include <geometry_msgs/PoseStamped.h>
#include <boost/shared_ptr.hpp>
#include <tf/tf.h>

namespace moveit
{

namespace planning_interface
{

class MoveItErrorCode : public moveit_msgs::MoveItErrorCodes
{
public:
  MoveItErrorCode() { val = 0; };
  MoveItErrorCode(int code) { val = code; };
  MoveItErrorCode(const moveit_msgs::MoveItErrorCodes &code) { val = code.val; };
  operator bool() const { return val == moveit_msgs::MoveItErrorCodes::SUCCESS; }
};

class MoveGroup
{
public:

  static const std::string ROBOT_DESCRIPTION;

  struct Options
  {
    Options(const std::string &group_name,
            const std::string &desc = ROBOT_DESCRIPTION,
            const ros::NodeHandle &node_handle = ros::NodeHandle()) :
      group_name_(group_name),
      robot_description_(desc),
      node_handle_(node_handle)
    {
    }

    std::string group_name_;

    std::string robot_description_;

    robot_model::RobotModelConstPtr robot_model_;

    ros::NodeHandle node_handle_;
  };

  struct Plan
  {
    moveit_msgs::RobotState start_state_;

    moveit_msgs::RobotTrajectory trajectory_;

    double planning_time_;
  };

  MoveGroup(const Options &opt, const boost::shared_ptr<tf::Transformer> &tf = boost::shared_ptr<tf::Transformer>(),
            const ros::Duration &wait_for_server = ros::Duration(0, 0));

  MoveGroup(const std::string &group, const boost::shared_ptr<tf::Transformer> &tf = boost::shared_ptr<tf::Transformer>(),
            const ros::Duration &wait_for_server = ros::Duration(0, 0));

  ~MoveGroup();

  const std::string& getName() const;

  const std::string& getPlanningFrame() const;

  const std::vector<std::string>& getActiveJoints() const;

  const std::vector<std::string>& getJoints() const;

  unsigned int getVariableCount() const;

  bool getInterfaceDescription(moveit_msgs::PlannerInterfaceDescription &desc);

  void setPlannerId(const std::string &planner_id);

  void setPlanningTime(double seconds);

  void setNumPlanningAttempts(unsigned int num_planning_attempts);
  
  double getPlanningTime() const;

  double getGoalJointTolerance() const;

  double getGoalPositionTolerance() const;

  double getGoalOrientationTolerance() const;

  void setGoalTolerance(double tolerance);

  void setGoalJointTolerance(double tolerance);

  void setGoalPositionTolerance(double tolerance);

  void setGoalOrientationTolerance(double tolerance);

  void setWorkspace(double minx, double miny, double minz, double maxx, double maxy, double maxz);

  void setStartState(const moveit_msgs::RobotState &start_state);

  void setStartState(const robot_state::RobotState &start_state);

  void setStartStateToCurrentState();

  void setSupportSurfaceName(const std::string &name);

  bool setJointValueTarget(const std::vector<double> &group_variable_values);

  bool setJointValueTarget(const std::map<std::string, double> &variable_values);

  bool setJointValueTarget(const robot_state::RobotState &robot_state);

  bool setJointValueTarget(const std::string &joint_name, const std::vector<double> &values);

  bool setJointValueTarget(const std::string &joint_name, double value);

  bool setJointValueTarget(const sensor_msgs::JointState &state);

  bool setJointValueTarget(const geometry_msgs::Pose &eef_pose, const std::string &end_effector_link = "");

  bool setJointValueTarget(const geometry_msgs::PoseStamped &eef_pose, const std::string &end_effector_link = "");

  bool setJointValueTarget(const Eigen::Affine3d &eef_pose, const std::string &end_effector_link = "");

  bool setApproximateJointValueTarget(const geometry_msgs::Pose &eef_pose, const std::string &end_effector_link = "");

  bool setApproximateJointValueTarget(const geometry_msgs::PoseStamped &eef_pose, const std::string &end_effector_link = "");

  bool setApproximateJointValueTarget(const Eigen::Affine3d &eef_pose, const std::string &end_effector_link = "");

  void setRandomTarget();

  bool setNamedTarget(const std::string &name);

  const robot_state::RobotState& getJointValueTarget() const;

  bool setPositionTarget(double x, double y, double z, const std::string &end_effector_link = "");

  bool setRPYTarget(double roll, double pitch, double yaw, const std::string &end_effector_link = "");

  bool setOrientationTarget(double x, double y, double z, double w, const std::string &end_effector_link = "");

  bool setPoseTarget(const Eigen::Affine3d &end_effector_pose, const std::string &end_effector_link = "");

  bool setPoseTarget(const geometry_msgs::Pose &target, const std::string &end_effector_link = "");

  bool setPoseTarget(const geometry_msgs::PoseStamped &target, const std::string &end_effector_link = "");

  bool setPoseTargets(const EigenSTL::vector_Affine3d &end_effector_pose, const std::string &end_effector_link = "");

  bool setPoseTargets(const std::vector<geometry_msgs::Pose> &target, const std::string &end_effector_link = "");

  bool setPoseTargets(const std::vector<geometry_msgs::PoseStamped> &target, const std::string &end_effector_link = "");

  void setPoseReferenceFrame(const std::string &pose_reference_frame);

  bool setEndEffectorLink(const std::string &end_effector_link);

  bool setEndEffector(const std::string &eef_name);

  void clearPoseTarget(const std::string &end_effector_link = "");

  void clearPoseTargets();

  const geometry_msgs::PoseStamped& getPoseTarget(const std::string &end_effector_link = "") const;

  const std::vector<geometry_msgs::PoseStamped>& getPoseTargets(const std::string &end_effector_link = "") const;

  const std::string& getEndEffectorLink() const;

  const std::string& getEndEffector() const;

  const std::string& getPoseReferenceFrame() const;

  MoveItErrorCode asyncMove();

  MoveItErrorCode move();

  MoveItErrorCode plan(Plan &plan);

  MoveItErrorCode asyncExecute(const Plan &plan);

  MoveItErrorCode execute(const Plan &plan);

  double computeCartesianPath(const std::vector<geometry_msgs::Pose> &waypoints, double eef_step, double jump_threshold,
                              moveit_msgs::RobotTrajectory &trajectory, bool avoid_collisions = true, moveit_msgs::MoveItErrorCodes *error_code = NULL);

  void stop();

  void allowLooking(bool flag);

  void allowReplanning(bool flag);

  MoveItErrorCode pick(const std::string &object);

  MoveItErrorCode pick(const std::string &object, const moveit_msgs::Grasp &grasp);

  MoveItErrorCode pick(const std::string &object, const std::vector<moveit_msgs::Grasp> &grasps);

  MoveItErrorCode place(const std::string &object);

  MoveItErrorCode place(const std::string &object, const std::vector<moveit_msgs::PlaceLocation> &locations);

  MoveItErrorCode place(const std::string &object, const std::vector<geometry_msgs::PoseStamped> &poses);

  MoveItErrorCode place(const std::string &object, const geometry_msgs::PoseStamped &pose);

  bool attachObject(const std::string &object, const std::string &link = "");

  bool attachObject(const std::string &object, const std::string &link, const std::vector<std::string> &touch_links);

  bool detachObject(const std::string &name = "");

  bool startStateMonitor(double wait = 1.0);
  
  std::vector<double> getCurrentJointValues();

  robot_state::RobotStatePtr getCurrentState();

  geometry_msgs::PoseStamped getCurrentPose(const std::string &end_effector_link = "");

  std::vector<double> getCurrentRPY(const std::string &end_effector_link = "");

  std::vector<double> getRandomJointValues();

  geometry_msgs::PoseStamped getRandomPose(const std::string &end_effector_link = "");

  void rememberJointValues(const std::string &name);

  void rememberJointValues(const std::string &name, const std::vector<double> &values);

  const std::map<std::string, std::vector<double> >& getRememberedJointValues() const
  {
    return remembered_joint_values_;
  }

  void forgetJointValues(const std::string &name);

  void setConstraintsDatabase(const std::string &host, unsigned int port);

  std::vector<std::string> getKnownConstraints() const;

  moveit_msgs::Constraints getPathConstraints() const;

  bool setPathConstraints(const std::string &constraint);

  void setPathConstraints(const moveit_msgs::Constraints &constraint);

  void clearPathConstraints();

private:

  std::map<std::string, std::vector<double> > remembered_joint_values_;
  class MoveGroupImpl;
  MoveGroupImpl *impl_;

};

}
}
// for backward compatibility; remove in hydro
namespace move_group_interface=moveit::planning_interface;

#endif