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_MOVE_GROUP_MOVE_ACTION_CAPABILITY_ 00038 #define MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_ 00039 00040 #include <moveit/move_group/move_group_capability.h> 00041 #include <actionlib/server/simple_action_server.h> 00042 #include <moveit_msgs/MoveGroupAction.h> 00043 00044 namespace move_group 00045 { 00046 class MoveGroupMoveAction : public MoveGroupCapability 00047 { 00048 public: 00049 MoveGroupMoveAction(); 00050 00051 virtual void initialize(); 00052 00053 private: 00054 void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr& goal); 00055 void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr& goal, 00056 moveit_msgs::MoveGroupResult& action_res); 00057 void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr& goal, 00058 moveit_msgs::MoveGroupResult& action_res); 00059 void startMoveExecutionCallback(); 00060 void startMoveLookCallback(); 00061 void preemptMoveCallback(); 00062 void setMoveState(MoveGroupState state); 00063 bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest& req, 00064 plan_execution::ExecutableMotionPlan& plan); 00065 00066 boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction> > move_action_server_; 00067 moveit_msgs::MoveGroupFeedback move_feedback_; 00068 00069 MoveGroupState move_state_; 00070 }; 00071 } 00072 00073 #endif