path_planner_base.h

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/*
 * path_planner_base.h
 *
 *  Created on: Jan 19, 2015
 *      Author: ros developer
 */

#ifndef DESCARTES_CORE_PATH_PLANNER_BASE_H_
#define DESCARTES_CORE_PATH_PLANNER_BASE_H_

#include <descartes_core/trajectory_pt.h>
#include <descartes_core/robot_model.h>
#include <vector>

namespace descartes_core
{
namespace PlannerErrors
{
enum PlannerError
{
  OK = 1,
  IK_NOT_AVAILABLE = -1,
  FX_NOT_AVAILABLE = -2,
  SELF_COLLISION_FOUND = -3,
  ENVIRONMENT_COLLISION_FOUND = -4,
  PLANNING_TIMEOUT = -5,
  EMPTY_PATH = -6,
  SPEED_LIMIT_EXCEEDED = -7,
  ACCELERATION_LIMIT_EXCEEDED = -8,
  MAX_TRAJECTORY_SIZE_EXCEEDED = -9,
  UNINITIALIZED = -10,
  INVALID_ID = -11,
  INCOMPLETE_PATH = -12,
  INVALID_CONFIGURATION_PARAMETER = -13,
  UKNOWN = -99
};
}
typedef PlannerErrors::PlannerError PlannerError;

typedef std::map<std::string, std::string> PlannerConfig;

DESCARTES_CLASS_FORWARD(PathPlannerBase);
class PathPlannerBase
{
public:
  virtual ~PathPlannerBase()
  {
  }

  virtual bool initialize(RobotModelConstPtr model) = 0;

  virtual bool setConfig(const PlannerConfig& config) = 0;

  virtual void getConfig(PlannerConfig& config) const = 0;

  virtual bool planPath(const std::vector<TrajectoryPtPtr>& traj) = 0;

  virtual bool getPath(std::vector<TrajectoryPtPtr>& path) const = 0;

  virtual bool addAfter(const TrajectoryPt::ID& ref_id, TrajectoryPtPtr tp) = 0;

  virtual bool addBefore(const TrajectoryPt::ID& ref_id, TrajectoryPtPtr tp) = 0;

  virtual bool remove(const TrajectoryPt::ID& ref_id) = 0;

  virtual bool modify(const TrajectoryPt::ID& ref_id, TrajectoryPtPtr tp) = 0;

  virtual int getErrorCode() const = 0;

  virtual bool getErrorMessage(int error_code, std::string& msg) const = 0;

protected:
  PathPlannerBase()
  {
  }
};
}

#endif /* DESCARTES_CORE_PATH_PLANNER_BASE_H_ */