sbpl_meta_interface.h
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00034 
00035 
00036 #ifndef MOVEIT_SBPL_META_INTERFACE_H_
00037 #define MOVEIT_SBPL_META_INTERFACE_H_
00038 
00039 #include <sbpl/headers.h>
00040 #include <planning_scene/planning_scene.h>
00041 #include <moveit_msgs/GetMotionPlan.h>
00042 #include <sbpl_interface/sbpl_interface.h>
00043 #include <boost/thread.hpp>
00044 
00045 namespace sbpl_interface
00046 {
00047 class SBPLMetaInterface
00048 {
00049 public:
00050 
00051   SBPLMetaInterface(const planning_models::RobotModelConstPtr& kmodel);
00052   virtual ~SBPLMetaInterface(){}
00053 
00054   bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
00055              const moveit_msgs::GetMotionPlan::Request &req,
00056              moveit_msgs::GetMotionPlan::Response &res);
00057 
00058   const PlanningStatistics& getLastPlanningStatistics() const {
00059     return last_planning_statistics_;
00060   }
00061 
00062 protected:
00063 
00064   void runSolver(bool use_first,
00065                  const planning_scene::PlanningSceneConstPtr& planning_scene,
00066                  const moveit_msgs::GetMotionPlan::Request &req,
00067                  moveit_msgs::GetMotionPlan::Response &res,
00068                  const PlanningParameters& params);
00069 
00070   boost::mutex planner_done_mutex_;
00071   boost::condition_variable planner_done_condition_;
00072   bool first_ok_;
00073   bool first_done_;
00074   bool second_ok_;
00075   bool second_done_;
00076 
00077   boost::shared_ptr<sbpl_interface::SBPLInterface> sbpl_interface_first_;
00078   boost::shared_ptr<sbpl_interface::SBPLInterface> sbpl_interface_second_;
00079 
00080   PlanningStatistics last_planning_statistics_;
00081 };
00082 
00083 }
00084 
00085 #endif


sbpl_interface
Author(s): Gil Jones
autogenerated on Sun Jan 17 2016 12:57:03