manipulation_plan.h
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00034 
00035 /* Author: Ioan Sucan, Sachin Chitta */
00036 
00037 #ifndef MOVEIT_PICK_PLACE_MANIPULATION_PLAN_
00038 #define MOVEIT_PICK_PLACE_MANIPULATION_PLAN_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/robot_state/robot_state.h>
00042 #include <moveit/constraint_samplers/constraint_sampler.h>
00043 #include <moveit/plan_execution/plan_representation.h>
00044 #include <moveit_msgs/GripperTranslation.h>
00045 #include <moveit_msgs/RobotState.h>
00046 #include <moveit_msgs/RobotTrajectory.h>
00047 #include <moveit_msgs/MoveItErrorCodes.h>
00048 #include <moveit_msgs/Constraints.h>
00049 #include <string>
00050 #include <vector>
00051 
00052 namespace pick_place
00053 {
00054 MOVEIT_CLASS_FORWARD(ManipulationPlanSharedData);
00055 
00056 struct ManipulationPlanSharedData
00057 {
00058   ManipulationPlanSharedData()
00059     : planning_group_(NULL)
00060     , end_effector_group_(NULL)
00061     , ik_link_(NULL)
00062     , max_goal_sampling_attempts_(0)
00063     , minimize_object_distance_(false)
00064   {
00065   }
00066 
00067   const robot_model::JointModelGroup* planning_group_;
00068   const robot_model::JointModelGroup* end_effector_group_;
00069   const robot_model::LinkModel* ik_link_;
00070 
00071   unsigned int max_goal_sampling_attempts_;
00072 
00073   std::string planner_id_;
00074 
00075   bool minimize_object_distance_;
00076 
00077   moveit_msgs::Constraints path_constraints_;
00078 
00079   moveit_msgs::AttachedCollisionObject diff_attached_object_;
00080 
00081   ros::WallTime timeout_;
00082 };
00083 
00084 MOVEIT_CLASS_FORWARD(ManipulationPlan);
00085 
00086 struct ManipulationPlan
00087 {
00088   ManipulationPlan(const ManipulationPlanSharedDataConstPtr& shared_data)
00089     : shared_data_(shared_data), processing_stage_(0)
00090   {
00091   }
00092 
00094   void clear()
00095   {
00096     goal_sampler_.reset();
00097     trajectories_.clear();
00098     approach_state_.reset();
00099     possible_goal_states_.clear();
00100     processing_stage_ = 0;
00101   }
00102 
00103   // Shared data between manipulation plans (set at initialization)
00104   ManipulationPlanSharedDataConstPtr shared_data_;
00105 
00106   // the approach motion towards the goal
00107   moveit_msgs::GripperTranslation approach_;
00108 
00109   // the retreat motion away from the goal
00110   moveit_msgs::GripperTranslation retreat_;
00111 
00112   // the kinematic configuration of the end effector when approaching the goal (an open gripper)
00113   trajectory_msgs::JointTrajectory approach_posture_;
00114 
00115   // the kinematic configuration of the end effector when retreating from the goal (a closed gripper)
00116   trajectory_msgs::JointTrajectory retreat_posture_;
00117 
00118   // -------------- computed data --------------------------
00119   geometry_msgs::PoseStamped goal_pose_;
00120   Eigen::Affine3d transformed_goal_pose_;
00121 
00122   moveit_msgs::Constraints goal_constraints_;
00123 
00124   // Allows for the sampling of a kineamtic state for a particular group of a robot
00125   constraint_samplers::ConstraintSamplerPtr goal_sampler_;
00126 
00127   std::vector<robot_state::RobotStatePtr> possible_goal_states_;
00128 
00129   robot_state::RobotStatePtr approach_state_;
00130 
00131   // The sequence of trajectories produced for execution
00132   std::vector<plan_execution::ExecutableTrajectory> trajectories_;
00133 
00134   // An error code reflecting what went wrong (if anything)
00135   moveit_msgs::MoveItErrorCodes error_code_;
00136 
00137   // The processing stage that was last working on this plan, or was about to work on this plan
00138   std::size_t processing_stage_;
00139 
00140   // An id for this plan; this is usually the index of the Grasp / PlaceLocation in the input request
00141   std::size_t id_;
00142 };
00143 }
00144 
00145 #endif


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:21:50