builder.h

Go to the documentation of this file.

#ifndef _MOVEIT_GOAL_BUILDER_BUILDER_H_
#define _MOVEIT_GOAL_BUILDER_BUILDER_H_

#include <map>
#include <string>

#include "geometry_msgs/Pose.h"
#include "moveit/robot_state/robot_state.h"
#include "moveit_msgs/Constraints.h"
#include "moveit_msgs/MoveGroupGoal.h"
#include "moveit_msgs/OrientationConstraint.h"
#include "moveit_msgs/WorkspaceParameters.h"

namespace moveit_goal_builder {
enum ActiveTargetType { JOINT, POSE, POSITION, ORIENTATION };

const char kRRTConnect[] = "RRTConnectkConfigDefault";

class Builder {
 public:
  Builder(const std::string& planning_frame, const std::string& group_name);

  void Build(moveit_msgs::MoveGroupGoal* goal) const;

  void GetJointGoal(std::map<std::string, double>* joint_goal) const;

  void SetJointGoal(const std::map<std::string, double>& joints);

  void GetPoseGoals(
      std::map<std::string, geometry_msgs::Pose>* pose_goals) const;

  void SetPoseGoals(
      const std::map<std::string, geometry_msgs::Pose>& pose_goals);

  void ClearPoseGoals();

  void AddPoseGoal(const std::string& ee_link, const geometry_msgs::Pose& goal);

  void GetPathConstraints(moveit_msgs::Constraints* constraints) const;

  void SetPathConstraints(const moveit_msgs::Constraints& constraints);

  void ClearPathConstraints();

  void AddPathOrientationConstraint(
      const moveit_msgs::OrientationConstraint& oc);

  robot_state::RobotStatePtr StartState() const;

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

  void SetStartStateToCurrentState();

  std::string planning_frame;

  std::string group_name;

  bool plan_only;

  moveit_msgs::WorkspaceParameters workspace_parameters;

  double planning_time;

  std::string planner_id;

  unsigned int num_planning_attempts;

  double max_velocity_scaling_factor;

  double max_acceleration_scaling_factor;

  bool can_look;

  bool can_replan;

  int replan_attempts;

  double replan_delay;

  double joint_tolerance;

  double position_tolerance;

  double orientation_tolerance;

 private:
  // Joint state goal
  std::map<std::string, double> joint_goal_;

  // Pose goal
  std::map<std::string, geometry_msgs::Pose> pose_goals_;

  // Path constraints
  moveit_msgs::Constraints path_constraints_;

  robot_state::RobotStatePtr start_state_;

  ActiveTargetType active_target_;
};
}  // namespace moveit_goal_builder

#endif  // _MOVEIT_GOAL_BUILDER_BUILDER_H_