chomp_planning_context.h
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00034 
00035 /* Author: Chittaranjan Srinivas Swaminathan */
00036 
00037 #ifndef CHOMP_INTERFACE_CHOMP_PLANNING_CONTEXT_H
00038 #define CHOMP_INTERFACE_CHOMP_PLANNING_CONTEXT_H
00039 
00040 #include <moveit/planning_interface/planning_interface.h>
00041 #include <chomp_interface/chomp_interface.h>
00042 #include <chomp_interface/chomp_planning_context.h>
00043 #include <moveit/collision_distance_field/collision_detector_allocator_hybrid.h>
00044 #include <moveit/trajectory_processing/iterative_time_parameterization.h>
00045 
00046 #include <tf/transform_listener.h>
00047 
00048 #include <moveit/robot_state/conversions.h>
00049 
00050 namespace chomp_interface
00051 {
00052 MOVEIT_CLASS_FORWARD(CHOMPPlanningContext);
00053 
00054 class CHOMPPlanningContext : public planning_interface::PlanningContext
00055 {
00056 public:
00057   virtual bool solve(planning_interface::MotionPlanResponse& res);
00058   virtual bool solve(planning_interface::MotionPlanDetailedResponse& res);
00059 
00060   virtual void clear();
00061   virtual bool terminate();
00062 
00063   CHOMPPlanningContext(const std::string& name, const std::string& group, const robot_model::RobotModelConstPtr& model);
00064 
00065   virtual ~CHOMPPlanningContext();
00066 
00067   void initialize();
00068 
00069 private:
00070   CHOMPInterfacePtr chomp_interface_;
00071   moveit::core::RobotModelConstPtr robot_model_;
00072 
00073   boost::shared_ptr<tf::TransformListener> tf_;
00074 };
00075 
00076 } /* namespace chomp_interface */
00077 
00078 #endif /* CHOMP_PLANNING_CONTEXT_H_ */


chomp_interface
Author(s): Gil Jones
autogenerated on Wed Jun 19 2019 19:24:10