move_group_interface.h

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/* Author: Ioan Sucan, Sachin Chitta */

#ifndef MOVEIT_MOVE_GROUP_INTERFACE_MOVE_GROUP_INTERFACE_
#define MOVEIT_MOVE_GROUP_INTERFACE_MOVE_GROUP_INTERFACE_

#include <moveit/macros/class_forward.h>
#include <moveit/macros/deprecation.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/RobotTrajectory.h>
#include <moveit_msgs/RobotState.h>
#include <moveit_msgs/PlannerInterfaceDescription.h>
#include <moveit_msgs/Constraints.h>
#include <moveit_msgs/Grasp.h>
#include <moveit_msgs/PlaceLocation.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit_msgs/MoveGroupAction.h>
#include <geometry_msgs/PoseStamped.h>
#include <actionlib/client/simple_action_client.h>
#include <boost/shared_ptr.hpp>
#include <tf/tf.h>

namespace moveit
{
namespace planning_interface
{
class MoveItErrorCode : public moveit_msgs::MoveItErrorCodes
{
public:
  MoveItErrorCode()
  {
    val = 0;
  }
  MoveItErrorCode(int code)
  {
    val = code;
  }
  MoveItErrorCode(const moveit_msgs::MoveItErrorCodes& code)
  {
    val = code.val;
  }
  explicit operator bool() const
  {
    return val == moveit_msgs::MoveItErrorCodes::SUCCESS;
  }
  bool operator==(const int c) const
  {
    return val == c;
  }
  bool operator!=(const int c) const
  {
    return val != c;
  }
};

MOVEIT_CLASS_FORWARD(MoveGroupInterface);

class MoveGroupInterface
{
public:
  static const std::string ROBOT_DESCRIPTION;

  struct Options
  {
    Options(const std::string& group_name, const std::string& desc = ROBOT_DESCRIPTION,
            const ros::NodeHandle& node_handle = ros::NodeHandle())
      : group_name_(group_name), robot_description_(desc), node_handle_(node_handle)
    {
    }

    std::string group_name_;

    std::string robot_description_;

    robot_model::RobotModelConstPtr robot_model_;

    ros::NodeHandle node_handle_;
  };

  MOVEIT_STRUCT_FORWARD(Plan);

  struct Plan
  {
    moveit_msgs::RobotState start_state_;

    moveit_msgs::RobotTrajectory trajectory_;

    double planning_time_;
  };

  MoveGroupInterface(const Options& opt,
                     const boost::shared_ptr<tf::Transformer>& tf = boost::shared_ptr<tf::Transformer>(),
                     const ros::WallDuration& wait_for_servers = ros::WallDuration());
  MOVEIT_DEPRECATED MoveGroupInterface(const Options& opt, const boost::shared_ptr<tf::Transformer>& tf,
                                       const ros::Duration& wait_for_servers);

  MoveGroupInterface(const std::string& group,
                     const boost::shared_ptr<tf::Transformer>& tf = boost::shared_ptr<tf::Transformer>(),
                     const ros::WallDuration& wait_for_servers = ros::WallDuration());
  MOVEIT_DEPRECATED MoveGroupInterface(const std::string& group, const boost::shared_ptr<tf::Transformer>& tf,
                                       const ros::Duration& wait_for_servers);

  ~MoveGroupInterface();

  MoveGroupInterface(const MoveGroupInterface&) = delete;
  MoveGroupInterface& operator=(const MoveGroupInterface&) = delete;

  MoveGroupInterface(MoveGroupInterface&& other);
  MoveGroupInterface& operator=(MoveGroupInterface&& other);

  const std::string& getName() const;

  const std::vector<std::string> getNamedTargets();

  robot_model::RobotModelConstPtr getRobotModel() const;

  const ros::NodeHandle& getNodeHandle() const;

  const std::string& getPlanningFrame() const;

  const std::vector<std::string>& getJointNames();

  const std::vector<std::string>& getLinkNames();

  std::map<std::string, double> getNamedTargetValues(const std::string& name);

  const std::vector<std::string>& getActiveJoints() const;

  const std::vector<std::string>& getJoints() const;

  unsigned int getVariableCount() const;

  bool getInterfaceDescription(moveit_msgs::PlannerInterfaceDescription& desc);

  std::map<std::string, std::string> getPlannerParams(const std::string& planner_id, const std::string& group = "");

  void setPlannerParams(const std::string& planner_id, const std::string& group,
                        const std::map<std::string, std::string>& params, bool bReplace = false);

  std::string getDefaultPlannerId(const std::string& group = "") const;

  void setPlannerId(const std::string& planner_id);

  const std::string& getPlannerId() const;

  void setPlanningTime(double seconds);

  void setNumPlanningAttempts(unsigned int num_planning_attempts);

  void setMaxVelocityScalingFactor(double max_velocity_scaling_factor);

  void setMaxAccelerationScalingFactor(double max_acceleration_scaling_factor);

  double getPlanningTime() const;

  double getGoalJointTolerance() const;

  double getGoalPositionTolerance() const;

  double getGoalOrientationTolerance() const;

  void setGoalTolerance(double tolerance);

  void setGoalJointTolerance(double tolerance);

  void setGoalPositionTolerance(double tolerance);

  void setGoalOrientationTolerance(double tolerance);

  void setWorkspace(double minx, double miny, double minz, double maxx, double maxy, double maxz);

  void setStartState(const moveit_msgs::RobotState& start_state);

  void setStartState(const robot_state::RobotState& start_state);

  void setStartStateToCurrentState();

  void setSupportSurfaceName(const std::string& name);

  bool setJointValueTarget(const std::vector<double>& group_variable_values);

  bool setJointValueTarget(const std::map<std::string, double>& variable_values);

  bool setJointValueTarget(const robot_state::RobotState& robot_state);

  bool setJointValueTarget(const std::string& joint_name, const std::vector<double>& values);

  bool setJointValueTarget(const std::string& joint_name, double value);

  bool setJointValueTarget(const sensor_msgs::JointState& state);

  bool setJointValueTarget(const geometry_msgs::Pose& eef_pose, const std::string& end_effector_link = "");

  bool setJointValueTarget(const geometry_msgs::PoseStamped& eef_pose, const std::string& end_effector_link = "");

  bool setJointValueTarget(const Eigen::Affine3d& eef_pose, const std::string& end_effector_link = "");

  bool setApproximateJointValueTarget(const geometry_msgs::Pose& eef_pose, const std::string& end_effector_link = "");

  bool setApproximateJointValueTarget(const geometry_msgs::PoseStamped& eef_pose,
                                      const std::string& end_effector_link = "");

  bool setApproximateJointValueTarget(const Eigen::Affine3d& eef_pose, const std::string& end_effector_link = "");

  void setRandomTarget();

  bool setNamedTarget(const std::string& name);

  const robot_state::RobotState& getJointValueTarget() const;

  bool setPositionTarget(double x, double y, double z, const std::string& end_effector_link = "");

  bool setRPYTarget(double roll, double pitch, double yaw, const std::string& end_effector_link = "");

  bool setOrientationTarget(double x, double y, double z, double w, const std::string& end_effector_link = "");

  bool setPoseTarget(const Eigen::Affine3d& end_effector_pose, const std::string& end_effector_link = "");

  bool setPoseTarget(const geometry_msgs::Pose& target, const std::string& end_effector_link = "");

  bool setPoseTarget(const geometry_msgs::PoseStamped& target, const std::string& end_effector_link = "");

  bool setPoseTargets(const EigenSTL::vector_Affine3d& end_effector_pose, const std::string& end_effector_link = "");

  bool setPoseTargets(const std::vector<geometry_msgs::Pose>& target, const std::string& end_effector_link = "");

  bool setPoseTargets(const std::vector<geometry_msgs::PoseStamped>& target, const std::string& end_effector_link = "");

  void setPoseReferenceFrame(const std::string& pose_reference_frame);

  bool setEndEffectorLink(const std::string& end_effector_link);

  bool setEndEffector(const std::string& eef_name);

  void clearPoseTarget(const std::string& end_effector_link = "");

  void clearPoseTargets();

  const geometry_msgs::PoseStamped& getPoseTarget(const std::string& end_effector_link = "") const;

  const std::vector<geometry_msgs::PoseStamped>& getPoseTargets(const std::string& end_effector_link = "") const;

  const std::string& getEndEffectorLink() const;

  const std::string& getEndEffector() const;

  const std::string& getPoseReferenceFrame() const;

  MoveItErrorCode asyncMove();

  actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction>& getMoveGroupClient() const;

  MoveItErrorCode move();

  MoveItErrorCode plan(Plan& plan);

  MoveItErrorCode asyncExecute(const Plan& plan);

  MoveItErrorCode execute(const Plan& plan);

  double computeCartesianPath(const std::vector<geometry_msgs::Pose>& waypoints, double eef_step, double jump_threshold,
                              moveit_msgs::RobotTrajectory& trajectory, bool avoid_collisions = true,
                              moveit_msgs::MoveItErrorCodes* error_code = NULL);

  double computeCartesianPath(const std::vector<geometry_msgs::Pose>& waypoints, double eef_step, double jump_threshold,
                              moveit_msgs::RobotTrajectory& trajectory,
                              const moveit_msgs::Constraints& path_constraints, bool avoid_collisions = true,
                              moveit_msgs::MoveItErrorCodes* error_code = NULL);

  void stop();

  void allowLooking(bool flag);

  void allowReplanning(bool flag);

  void constructMotionPlanRequest(moveit_msgs::MotionPlanRequest& request);

  MoveItErrorCode pick(const std::string& object, bool plan_only = false);

  MoveItErrorCode pick(const std::string& object, const moveit_msgs::Grasp& grasp, bool plan_only = false);

  MoveItErrorCode pick(const std::string& object, const std::vector<moveit_msgs::Grasp>& grasps,
                       bool plan_only = false);

  MoveItErrorCode planGraspsAndPick(const std::string& object = "", bool plan_only = false);

  MoveItErrorCode planGraspsAndPick(const moveit_msgs::CollisionObject& object, bool plan_only = false);

  MoveItErrorCode place(const std::string& object, bool plan_only = false);

  MoveItErrorCode place(const std::string& object, const std::vector<moveit_msgs::PlaceLocation>& locations,
                        bool plan_only = false);

  MoveItErrorCode place(const std::string& object, const std::vector<geometry_msgs::PoseStamped>& poses,
                        bool plan_only = false);

  MoveItErrorCode place(const std::string& object, const geometry_msgs::PoseStamped& pose, bool plan_only = false);

  bool attachObject(const std::string& object, const std::string& link = "");

  bool attachObject(const std::string& object, const std::string& link, const std::vector<std::string>& touch_links);

  bool detachObject(const std::string& name = "");

  bool startStateMonitor(double wait = 1.0);

  std::vector<double> getCurrentJointValues();

  robot_state::RobotStatePtr getCurrentState(double wait = 1);

  geometry_msgs::PoseStamped getCurrentPose(const std::string& end_effector_link = "");

  std::vector<double> getCurrentRPY(const std::string& end_effector_link = "");

  std::vector<double> getRandomJointValues();

  geometry_msgs::PoseStamped getRandomPose(const std::string& end_effector_link = "");

  void rememberJointValues(const std::string& name);

  void rememberJointValues(const std::string& name, const std::vector<double>& values);

  const std::map<std::string, std::vector<double> >& getRememberedJointValues() const
  {
    return remembered_joint_values_;
  }

  void forgetJointValues(const std::string& name);

  void setConstraintsDatabase(const std::string& host, unsigned int port);

  std::vector<std::string> getKnownConstraints() const;

  moveit_msgs::Constraints getPathConstraints() const;

  bool setPathConstraints(const std::string& constraint);

  void setPathConstraints(const moveit_msgs::Constraints& constraint);

  void clearPathConstraints();

  moveit_msgs::TrajectoryConstraints getTrajectoryConstraints() const;
  void setTrajectoryConstraints(const moveit_msgs::TrajectoryConstraints& constraint);
  void clearTrajectoryConstraints();

private:
  std::map<std::string, std::vector<double> > remembered_joint_values_;
  class MoveGroupInterfaceImpl;
  MoveGroupInterfaceImpl* impl_;
};
}
}

#endif