approach_planner.h

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/*
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#ifndef PLAY_MOTION_APPROACH_PLANNER_H
#define PLAY_MOTION_APPROACH_PLANNER_H

#include <map>
#include <vector>

#include <boost/shared_ptr.hpp>

#include <ros/message_forward.h>

#include <play_motion/datatypes.h>

namespace ros
{
  class NodeHandle;
  class AsyncSpinner;
  class CallbackQueue;
}

namespace trajectory_msgs
{
  ROS_DECLARE_MESSAGE(JointTrajectory);
}

namespace moveit
{
  namespace planning_interface
  {
    class MoveGroup;
  }
}

namespace play_motion
{
  class ApproachPlanner
  {
  public:

    ApproachPlanner(const ros::NodeHandle& nh);

    bool prependApproach(const std::vector<std::string>& joint_names,
                         const std::vector<double>&      current_pos,
                         bool                            skip_planning,
                         const std::vector<TrajPoint>&   traj_in,
                               std::vector<TrajPoint>&   traj_out);

    bool needsApproach(const std::vector<double>& current_pos,
                       const std::vector<double>& goal_pos);

  private:
    typedef moveit::planning_interface::MoveGroup MoveGroup;
    typedef boost::shared_ptr<MoveGroup> MoveGroupPtr;
    typedef boost::shared_ptr<ros::AsyncSpinner> AsyncSpinnerPtr;
    typedef boost::shared_ptr<ros::CallbackQueue> CallbackQueuePtr;
    typedef std::vector<std::string> JointNames;
    typedef std::map<std::string, double> JointGoal;

    struct PlanningData
    {
      PlanningData(MoveGroupPtr move_group_ptr);
      MoveGroupPtr move_group;
      JointNames   sorted_joint_names;
    };

    std::vector<PlanningData> planning_data_;
    std::vector<std::string> no_plan_joints_;
    double joint_tol_; 
    double skip_planning_vel_; 
    double skip_planning_min_dur_; 
    CallbackQueuePtr cb_queue_;
    AsyncSpinnerPtr spinner_;
    bool planning_disabled_;

    bool computeApproach(const JointNames&                 joint_names,
                         const std::vector<double>&        current_pos,
                         const std::vector<double>&        goal_pos,
                         trajectory_msgs::JointTrajectory& traj);

    bool planApproach(const JointNames&                 joint_names,
                      const std::vector<double>&        joint_values,
                      MoveGroupPtr                      move_group,
                      trajectory_msgs::JointTrajectory& traj);
    void combineTrajectories(const JointNames&                  joint_names,
                             const std::vector<double>&         current_pos,
                             const std::vector<TrajPoint>&      traj_in,
                             trajectory_msgs::JointTrajectory&  approach,
                             std::vector<TrajPoint>&            traj_out);

    std::vector<MoveGroupPtr> getValidMoveGroups(const JointNames& min_group,
                                                 const JointNames& max_group);

    bool isPlanningJoint(const std::string& joint_name) const;

    double noPlanningReachTime(const std::vector<double>& curr_pos,
                               const std::vector<double>& goal_pos);
  };

} // namespace

#endif