planning_interface.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, 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_PLANNING_INTERFACE_PLANNING_INTERFACE_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_INTERFACE_

#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_request.h>
#include <moveit/planning_interface/planning_response.h>
#include <string>
#include <map>

namespace planning_scene
{
MOVEIT_CLASS_FORWARD(PlanningScene);  // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
}

namespace planning_interface
{
ros::NodeHandle getConfigNodeHandle(const ros::NodeHandle& nh = ros::NodeHandle("~"));

struct PlannerConfigurationSettings
{
  std::string group;

  /* \brief Name of the configuration.

     For a group's default configuration, this should be the same as the group name.
     Otherwise, the form "group_name[config_name]" is expected for the name. */
  std::string name;

  std::map<std::string, std::string> config;
};

typedef std::map<std::string, PlannerConfigurationSettings> PlannerConfigurationMap;

MOVEIT_CLASS_FORWARD(PlanningContext);  // Defines PlanningContextPtr, ConstPtr, WeakPtr... etc

class PlanningContext
{
public:
  PlanningContext(const std::string& name, const std::string& group);

  virtual ~PlanningContext();

  const std::string& getGroupName() const
  {
    return group_;
  }

  const std::string& getName() const
  {
    return name_;
  }

  const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
  {
    return planning_scene_;
  }

  const MotionPlanRequest& getMotionPlanRequest() const
  {
    return request_;
  }

  void setPlanningScene(const planning_scene::PlanningSceneConstPtr& planning_scene);

  void setMotionPlanRequest(const MotionPlanRequest& request);

  virtual bool solve(MotionPlanResponse& res) = 0;

  virtual bool solve(MotionPlanDetailedResponse& res) = 0;

  virtual bool terminate() = 0;

  virtual void clear() = 0;

protected:
  std::string name_;

  std::string group_;

  planning_scene::PlanningSceneConstPtr planning_scene_;

  MotionPlanRequest request_;
};

MOVEIT_CLASS_FORWARD(PlannerManager);  // Defines PlannerManagerPtr, ConstPtr, WeakPtr... etc

class PlannerManager
{
public:
  PlannerManager()
  {
  }

  virtual ~PlannerManager()
  {
  }

  virtual bool initialize(const robot_model::RobotModelConstPtr& model, const std::string& ns);

  virtual std::string getDescription() const;

  virtual void getPlanningAlgorithms(std::vector<std::string>& algs) const;

  virtual PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                const MotionPlanRequest& req,
                                                moveit_msgs::MoveItErrorCodes& error_code) const = 0;

  PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                        const MotionPlanRequest& req) const;

  virtual bool canServiceRequest(const MotionPlanRequest& req) const = 0;

  virtual void setPlannerConfigurations(const PlannerConfigurationMap& pcs);

  const PlannerConfigurationMap& getPlannerConfigurations() const
  {
    return config_settings_;
  }

  void terminate() const;

protected:
  PlannerConfigurationMap config_settings_;
};

}  // namespace planning_interface

#endif