ompl_interface.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_OMPL_INTERFACE_
#define MOVEIT_OMPL_INTERFACE_OMPL_INTERFACE_

#include <moveit/ompl_interface/planning_context_manager.h>
#include <moveit/ompl_interface/constraints_library.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit_msgs/MotionPlanResponse.h>
#include <string>
#include <map>
#include <ros/ros.h>

namespace ompl_interface
{
class OMPLInterface
{
public:
  OMPLInterface(const robot_model::RobotModelConstPtr& kmodel, const ros::NodeHandle& nh = ros::NodeHandle("~"));

  OMPLInterface(const robot_model::RobotModelConstPtr& kmodel,
                const planning_interface::PlannerConfigurationMap& pconfig,
                const ros::NodeHandle& nh = ros::NodeHandle("~"));

  virtual ~OMPLInterface();

  void setPlannerConfigurations(const planning_interface::PlannerConfigurationMap& pconfig);

  const planning_interface::PlannerConfigurationMap& getPlannerConfigurations() const
  {
    return context_manager_.getPlannerConfigurations();
  }

  ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                  const planning_interface::MotionPlanRequest& req) const;
  ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                  const planning_interface::MotionPlanRequest& req,
                                                  moveit_msgs::MoveItErrorCodes& error_code) const;

  ModelBasedPlanningContextPtr getPlanningContext(const std::string& config,
                                                  const std::string& factory_type = "") const;

  ModelBasedPlanningContextPtr getLastPlanningContext() const
  {
    return context_manager_.getLastPlanningContext();
  }

  const PlanningContextManager& getPlanningContextManager() const
  {
    return context_manager_;
  }

  PlanningContextManager& getPlanningContextManager()
  {
    return context_manager_;
  }

  ConstraintsLibrary& getConstraintsLibrary()
  {
    return *constraints_library_;
  }

  const ConstraintsLibrary& getConstraintsLibrary() const
  {
    return *constraints_library_;
  }

  constraint_samplers::ConstraintSamplerManager& getConstraintSamplerManager()
  {
    return *constraint_sampler_manager_;
  }

  const constraint_samplers::ConstraintSamplerManager& getConstraintSamplerManager() const
  {
    return *constraint_sampler_manager_;
  }

  void useConstraintsApproximations(bool flag)
  {
    use_constraints_approximations_ = flag;
  }

  bool isUsingConstraintsApproximations() const
  {
    return use_constraints_approximations_;
  }

  void loadConstraintApproximations(const std::string& path);

  void saveConstraintApproximations(const std::string& path);

  bool simplifySolutions() const
  {
    return simplify_solutions_;
  }

  void simplifySolutions(bool flag)
  {
    simplify_solutions_ = flag;
  }

  bool saveConstraintApproximations();

  bool loadConstraintApproximations();

  void printStatus();

protected:
  bool loadPlannerConfiguration(const std::string& group_name, const std::string& planner_id,
                                const std::map<std::string, std::string>& group_params,
                                planning_interface::PlannerConfigurationSettings& planner_config);

  void loadPlannerConfigurations();

  void loadConstraintSamplers();

  void configureContext(const ModelBasedPlanningContextPtr& context) const;

  ModelBasedPlanningContextPtr prepareForSolve(const planning_interface::MotionPlanRequest& req,
                                               const planning_scene::PlanningSceneConstPtr& planning_scene,
                                               moveit_msgs::MoveItErrorCodes* error_code, unsigned int* attempts,
                                               double* timeout) const;

  ros::NodeHandle nh_;  

  robot_model::RobotModelConstPtr kmodel_;

  constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;

  PlanningContextManager context_manager_;

  ConstraintsLibraryPtr constraints_library_;
  bool use_constraints_approximations_;

  bool simplify_solutions_;

private:
  constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_;
};
}

#endif