move_action_capability.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <actionlib/server/simple_action_server.h>
#include <moveit_msgs/MoveGroupAction.h>
#include <memory>
 
namespace move_group
{
class MoveGroupMoveAction : public MoveGroupCapability
{
public:
  MoveGroupMoveAction();
 
  void initialize() override;
 
private:
  void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr& goal);
  void executeMoveCallbackPlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr& goal,
                                         moveit_msgs::MoveGroupResult& action_res);
  void executeMoveCallbackPlanOnly(const moveit_msgs::MoveGroupGoalConstPtr& goal,
                                   moveit_msgs::MoveGroupResult& action_res);
  void startMoveExecutionCallback();
  void startMoveLookCallback();
  void preemptMoveCallback();
  void setMoveState(MoveGroupState state);
  bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest& req,
                                 plan_execution::ExecutableMotionPlan& plan);
 
  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction> > move_action_server_;
  moveit_msgs::MoveGroupFeedback move_feedback_;
 
  MoveGroupState move_state_;
  bool preempt_requested_;
};
}  // namespace move_group