37 #ifndef MOVEIT_PICK_PLACE_PICK_PLACE_ 38 #define MOVEIT_PICK_PLACE_PICK_PLACE_ 45 #include <moveit_msgs/PickupAction.h> 46 #include <moveit_msgs/PlaceAction.h> 47 #include <boost/noncopyable.hpp> 97 bool plan(
const planning_scene::PlanningSceneConstPtr&
planning_scene,
const moveit_msgs::PickupGoal& goal);
106 bool plan(
const planning_scene::PlanningSceneConstPtr&
planning_scene,
const moveit_msgs::PlaceGoal& goal);
109 class PickPlace :
private boost::noncopyable,
public std::enable_shared_from_this<PickPlace>
122 return constraint_sampler_manager_loader_->getConstraintSamplerManager();
127 return planning_pipeline_;
132 return planning_pipeline_->getRobotModel();
136 PickPlanPtr planPick(
const planning_scene::PlanningSceneConstPtr&
planning_scene,
137 const moveit_msgs::PickupGoal& goal)
const;
140 PlacePlanPtr planPlace(
const planning_scene::PlanningSceneConstPtr& planning_scene,
141 const moveit_msgs::PlaceGoal& goal)
const;
143 void displayComputedMotionPlans(
bool flag);
144 void displayProcessedGrasps(
bool flag);
146 void visualizePlan(
const ManipulationPlanPtr& plan)
const;
148 void visualizeGrasp(
const ManipulationPlanPtr& plan)
const;
150 void visualizeGrasps(
const std::vector<ManipulationPlanPtr>& plans)
const;
ros::Publisher display_path_publisher_
constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_
PickPlaceConstPtr pick_place_
const std::vector< ManipulationPlanPtr > & getSuccessfulManipulationPlans() const
static const std::string DISPLAY_GRASP_TOPIC
const constraint_samplers::ConstraintSamplerManagerPtr & getConstraintsSamplerManager() const
boost::condition_variable done_condition_
Represent the sequence of steps that are executed for a manipulation plan.
ros::Publisher grasps_publisher_
static const std::string DISPLAY_PATH_TOPIC
planning_pipeline::PlanningPipelinePtr planning_pipeline_
moveit_msgs::MoveItErrorCodes error_code_
ManipulationPipeline pipeline_
void waitForPipeline(const ros::WallTime &endtime)
const std::vector< ManipulationPlanPtr > & getFailedManipulationPlans() const
const std::vector< ManipulationPlanPtr > & getFailedManipulationPlans() const
MOVEIT_CLASS_FORWARD(ManipulationPlanSharedData)
const robot_model::RobotModelConstPtr & getRobotModel() const
bool display_computed_motion_plans_
const planning_pipeline::PlanningPipelinePtr & getPlanningPipeline() const
const std::vector< ManipulationPlanPtr > & getSuccessfulManipulationPlans() const
const moveit_msgs::MoveItErrorCodes & getErrorCode() const
PickPlacePlanBase(const PickPlaceConstPtr &pick_place, const std::string &name)
static const double DEFAULT_GRASP_POSTURE_COMPLETION_DURATION