move_group_capability.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_CAPABILITY_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00042 #include <moveit/planning_interface/planning_interface.h>
00043 #include <moveit/plan_execution/plan_representation.h>
00044 #include <moveit/move_group/move_group_context.h>
00045 
00046 namespace move_group
00047 {
00048 enum MoveGroupState
00049 {
00050   IDLE,
00051   PLANNING,
00052   MONITOR,
00053   LOOK
00054 };
00055 
00056 MOVEIT_CLASS_FORWARD(MoveGroupCapability);
00057 
00058 class MoveGroupCapability
00059 {
00060 public:
00061   MoveGroupCapability(const std::string& capability_name) : node_handle_("~"), capability_name_(capability_name)
00062   {
00063   }
00064 
00065   virtual ~MoveGroupCapability()
00066   {
00067   }
00068 
00069   void setContext(const MoveGroupContextPtr& context);
00070 
00071   virtual void initialize() = 0;
00072 
00073   const std::string& getName() const
00074   {
00075     return capability_name_;
00076   }
00077 
00078 protected:
00079   std::string getActionResultString(const moveit_msgs::MoveItErrorCodes& error_code, bool planned_trajectory_empty,
00080                                     bool plan_only);
00081   std::string stateToStr(MoveGroupState state) const;
00082 
00083   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
00084                     moveit_msgs::RobotState& first_state_msg,
00085                     std::vector<moveit_msgs::RobotTrajectory>& trajectory_msg) const;
00086   void convertToMsg(const robot_trajectory::RobotTrajectoryPtr& trajectory, moveit_msgs::RobotState& first_state_msg,
00087                     moveit_msgs::RobotTrajectory& trajectory_msg) const;
00088   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
00089                     moveit_msgs::RobotState& first_state_msg, moveit_msgs::RobotTrajectory& trajectory_msg) const;
00090 
00091   planning_interface::MotionPlanRequest
00092   clearRequestStartState(const planning_interface::MotionPlanRequest& request) const;
00093   moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene& scene) const;
00094   bool performTransform(geometry_msgs::PoseStamped& pose_msg, const std::string& target_frame) const;
00095 
00096   ros::NodeHandle root_node_handle_;
00097   ros::NodeHandle node_handle_;
00098   std::string capability_name_;
00099   MoveGroupContextPtr context_;
00100 };
00101 }
00102 
00103 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:36