00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2016, 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: 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_ */