planning_scene_interface.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_

#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/ObjectColor.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/PlanningScene.h>

namespace moveit
{
namespace planning_interface
{
MOVEIT_CLASS_FORWARD(PlanningSceneInterface);

class PlanningSceneInterface
{
public:
  explicit PlanningSceneInterface(const std::string& ns = "");
  ~PlanningSceneInterface();

  std::vector<std::string> getKnownObjectNames(bool with_type = false);

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                    double maxz, bool with_type, std::vector<std::string>& types);

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                    double maxz, bool with_type = false)
  {
    std::vector<std::string> empty_vector_string;
    return getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type, empty_vector_string);
  };

  std::map<std::string, geometry_msgs::Pose> getObjectPoses(const std::vector<std::string>& object_ids);

  std::map<std::string, moveit_msgs::CollisionObject>
  getObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());

  std::map<std::string, moveit_msgs::AttachedCollisionObject>
  getAttachedObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());

  bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_object);

  bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_object,
                            const std_msgs::ColorRGBA& object_color);

  bool applyCollisionObjects(
      const std::vector<moveit_msgs::CollisionObject>& collision_objects,
      const std::vector<moveit_msgs::ObjectColor>& object_colors = std::vector<moveit_msgs::ObjectColor>());

  bool applyAttachedCollisionObject(const moveit_msgs::AttachedCollisionObject& attached_collision_object);

  bool
  applyAttachedCollisionObjects(const std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objects);

  bool applyPlanningScene(const moveit_msgs::PlanningScene& ps);

  void addCollisionObjects(
      const std::vector<moveit_msgs::CollisionObject>& collision_objects,
      const std::vector<moveit_msgs::ObjectColor>& object_colors = std::vector<moveit_msgs::ObjectColor>()) const;

  void removeCollisionObjects(const std::vector<std::string>& object_ids) const;

private:
  class PlanningSceneInterfaceImpl;
  PlanningSceneInterfaceImpl* impl_;
};
}
}

#endif