planning_pipeline.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_
#define MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_

#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <pluginlib/class_loader.h>
#include <boost/scoped_ptr.hpp>
#include <ros/ros.h>

namespace planning_pipeline
{
class PlanningPipeline
{
public:
  static const std::string DISPLAY_PATH_TOPIC;

  static const std::string MOTION_PLAN_REQUEST_TOPIC;

  static const std::string MOTION_CONTACTS_TOPIC;

  PlanningPipeline(const robot_model::RobotModelConstPtr& model, const ros::NodeHandle& nh = ros::NodeHandle("~"),
                   const std::string& planning_plugin_param_name = "planning_plugin",
                   const std::string& adapter_plugins_param_name = "request_adapters");

  PlanningPipeline(const robot_model::RobotModelConstPtr& model, const ros::NodeHandle& nh,
                   const std::string& planning_plugin_name, const std::vector<std::string>& adapter_plugin_names);

  void displayComputedMotionPlans(bool flag);

  void publishReceivedRequests(bool flag);

  void checkSolutionPaths(bool flag);

  bool getDisplayComputedMotionPlans() const
  {
    return display_computed_motion_plans_;
  }

  bool getPublishReceivedRequests() const
  {
    return publish_received_requests_;
  }

  bool getCheckSolutionPaths() const
  {
    return check_solution_paths_;
  }

  bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;

  bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& adapter_added_state_index) const;

  void terminate() const;

  const std::string& getPlannerPluginName() const
  {
    return planner_plugin_name_;
  }

  const std::vector<std::string>& getAdapterPluginNames() const
  {
    return adapter_plugin_names_;
  }

  const planning_interface::PlannerManagerPtr& getPlannerManager()
  {
    return planner_instance_;
  }

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return kmodel_;
  }

private:
  void configure();

  ros::NodeHandle nh_;

  bool display_computed_motion_plans_;
  ros::Publisher display_path_publisher_;

  bool publish_received_requests_;
  ros::Publisher received_request_publisher_;

  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader_;
  planning_interface::PlannerManagerPtr planner_instance_;
  std::string planner_plugin_name_;

  boost::scoped_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > adapter_plugin_loader_;
  boost::scoped_ptr<planning_request_adapter::PlanningRequestAdapterChain> adapter_chain_;
  std::vector<std::string> adapter_plugin_names_;

  robot_model::RobotModelConstPtr kmodel_;

  bool check_solution_paths_;
  ros::Publisher contacts_publisher_;
};

MOVEIT_CLASS_FORWARD(PlanningPipeline);
}

#endif