planning_request_adapter.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
#define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_

#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_scene/planning_scene.h>
#include <boost/function.hpp>

namespace planning_request_adapter
{
MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);

class PlanningRequestAdapter
{
public:
  typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
                               const planning_interface::MotionPlanRequest& req,
                               planning_interface::MotionPlanResponse& res)>
      PlannerFn;

  PlanningRequestAdapter()
  {
  }

  virtual ~PlanningRequestAdapter()
  {
  }

  virtual std::string getDescription() const
  {
    return "";
  }

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;

  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest& req,
                            planning_interface::MotionPlanResponse& res,
                            std::vector<std::size_t>& added_path_index) const = 0;
};

class PlanningRequestAdapterChain
{
public:
  PlanningRequestAdapterChain()
  {
  }

  void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
  {
    adapters_.push_back(adapter);
  }

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;

private:
  std::vector<PlanningRequestAdapterConstPtr> adapters_;
};
}

#endif