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 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