00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_ 00038 #define MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_ 00039 00040 #include <moveit/planning_scene_monitor/planning_scene_monitor.h> 00041 #include <moveit/robot_trajectory/robot_trajectory.h> 00042 #include <moveit_msgs/MoveItErrorCodes.h> 00043 #include <boost/function.hpp> 00044 00045 namespace plan_execution 00046 { 00047 struct ExecutableMotionPlan; 00048 00050 struct ExecutableTrajectory 00051 { 00052 ExecutableTrajectory() : trajectory_monitoring_(true) 00053 { 00054 } 00055 00056 ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description) 00057 : trajectory_(trajectory), description_(description), trajectory_monitoring_(true) 00058 { 00059 } 00060 00061 robot_trajectory::RobotTrajectoryPtr trajectory_; 00062 std::string description_; 00063 bool trajectory_monitoring_; 00064 collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_; 00065 boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_; 00066 }; 00067 00069 struct ExecutableMotionPlan 00070 { 00071 planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_; 00072 planning_scene::PlanningSceneConstPtr planning_scene_; 00073 00074 std::vector<ExecutableTrajectory> plan_components_; 00075 00076 // The trace of the trajectory recorded during execution 00077 robot_trajectory::RobotTrajectoryPtr executed_trajectory_; 00078 00080 moveit_msgs::MoveItErrorCodes error_code_; 00081 }; 00082 00084 typedef boost::function<bool(ExecutableMotionPlan& plan)> ExecutableMotionPlanComputationFn; 00085 } 00086 #endif