plan_with_sensing.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/plan_execution/plan_representation.h>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
 
#include <moveit/planning_scene_monitor/trajectory_monitor.h>
#include <moveit/sensor_manager/sensor_manager.h>
#include <pluginlib/class_loader.hpp>
 
#include <memory>
 
namespace plan_execution
{
MOVEIT_CLASS_FORWARD(PlanWithSensing);  // Defines PlanWithSensingPtr, ConstPtr, WeakPtr... etc
 
class PlanWithSensing
{
public:
  PlanWithSensing(const trajectory_execution_manager::TrajectoryExecutionManagerPtr& trajectory_execution);
  ~PlanWithSensing();
 
  const trajectory_execution_manager::TrajectoryExecutionManagerPtr& getTrajectoryExecutionManager() const
  {
    return trajectory_execution_manager_;
  }
 
  bool computePlan(ExecutableMotionPlan& plan, const ExecutableMotionPlanComputationFn& motion_planner,
                   unsigned int max_look_attempts, double max_safe_path_cost);
 
  double getMaxSafePathCost() const
  {
    return default_max_safe_path_cost_;
  }
 
  void setMaxSafePathCost(double max_safe_path_cost)
  {
    default_max_safe_path_cost_ = max_safe_path_cost;
  }
 
  void setMaxLookAttempts(unsigned int attempts)
  {
    default_max_look_attempts_ = attempts;
  }
 
  unsigned int getMaxLookAttempts() const
  {
    return default_max_look_attempts_;
  }
 
  unsigned int getMaxCostSources() const
  {
    return max_cost_sources_;
  }
 
  void setMaxCostSources(unsigned int value)
  {
    max_cost_sources_ = value;
  }
 
  double getDiscardOverlappingCostSources() const
  {
    return discard_overlapping_cost_sources_;
  }
 
  void setDiscardOverlappingCostSources(double value)
  {
    discard_overlapping_cost_sources_ = value;
  }
 
  void setBeforeLookCallback(const boost::function<void()>& callback)
  {
    before_look_callback_ = callback;
  }
 
  void displayCostSources(bool flag);
 
private:
  bool lookAt(const std::set<collision_detection::CostSource>& cost_sources, const std::string& frame_id);
 
  ros::NodeHandle node_handle_;
  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
 
  std::unique_ptr<pluginlib::ClassLoader<moveit_sensor_manager::MoveItSensorManager> > sensor_manager_loader_;
  moveit_sensor_manager::MoveItSensorManagerPtr sensor_manager_;
  unsigned int default_max_look_attempts_;
  double default_max_safe_path_cost_;
 
  double discard_overlapping_cost_sources_;
  unsigned int max_cost_sources_;
 
  bool display_cost_sources_;
  ros::Publisher cost_sources_publisher_;
 
  boost::function<void()> before_look_callback_;
 
  class DynamicReconfigureImpl;
  DynamicReconfigureImpl* reconfigure_impl_;
};
}  // namespace plan_execution