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00037 #ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00038 #define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00039
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/planning_interface/planning_interface.h>
00042 #include <moveit/planning_scene/planning_scene.h>
00043 #include <boost/function.hpp>
00044
00046 namespace planning_request_adapter
00047 {
00048 MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);
00049
00050 class PlanningRequestAdapter
00051 {
00052 public:
00053 typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
00054 const planning_interface::MotionPlanRequest& req,
00055 planning_interface::MotionPlanResponse& res)>
00056 PlannerFn;
00057
00058 PlanningRequestAdapter()
00059 {
00060 }
00061
00062 virtual ~PlanningRequestAdapter()
00063 {
00064 }
00065
00067 virtual std::string getDescription() const
00068 {
00069 return "";
00070 }
00071
00072 bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00073 const planning_scene::PlanningSceneConstPtr& planning_scene,
00074 const planning_interface::MotionPlanRequest& req,
00075 planning_interface::MotionPlanResponse& res) const;
00076
00077 bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00078 const planning_scene::PlanningSceneConstPtr& planning_scene,
00079 const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
00080 std::vector<std::size_t>& added_path_index) const;
00081
00087 virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
00088 const planning_interface::MotionPlanRequest& req,
00089 planning_interface::MotionPlanResponse& res,
00090 std::vector<std::size_t>& added_path_index) const = 0;
00091 };
00092
00094 class PlanningRequestAdapterChain
00095 {
00096 public:
00097 PlanningRequestAdapterChain()
00098 {
00099 }
00100
00101 void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
00102 {
00103 adapters_.push_back(adapter);
00104 }
00105
00106 bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00107 const planning_scene::PlanningSceneConstPtr& planning_scene,
00108 const planning_interface::MotionPlanRequest& req,
00109 planning_interface::MotionPlanResponse& res) const;
00110
00111 bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00112 const planning_scene::PlanningSceneConstPtr& planning_scene,
00113 const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
00114 std::vector<std::size_t>& added_path_index) const;
00115
00116 private:
00117 std::vector<PlanningRequestAdapterConstPtr> adapters_;
00118 };
00119 }
00120
00121 #endif