wam_cartesian_planning_alg.h

Go to the documentation of this file.

// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _wam_cartesian_planning_alg_h_
#define _wam_cartesian_planning_alg_h_


#include <iri_wam_cartesian_planning/WamCartesianPlanningConfig.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/geometric/planners/rrt/RRTConnect.h>
#include <ompl/geometric/SimpleSetup.h>
#include <ompl/config.h>

#include "mutex.h"

//include wam_cartesian_planning_alg main library

#include <geometry_msgs/PoseStamped.h>
#include <iostream>
#include <fstream>
#include <stdio.h>
class WamCartesianPlanningAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef iri_wam_cartesian_planning::WamCartesianPlanningConfig Config;

    Config config_;

    WamCartesianPlanningAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all wam_cartesian_planning_alg interface methods to retrieve and set
    // the driver parameters

    ~WamCartesianPlanningAlgorithm(void);
    
    static bool isStateValid(const ompl::base::State *state);
    void planWithSimpleSetup(ompl::base::ScopedState<ompl::base::SE3StateSpace>& start,ompl::base::ScopedState<ompl::base::SE3StateSpace>& goal, const int& st,std::vector<geometry_msgs::PoseStamped>& vector);
    void writeFile(ompl::geometric::PathGeometric& path,std::string& pathDir);
        void omplToRos(ompl::geometric::PathGeometric& path, std::vector<geometry_msgs::PoseStamped>& vect);

    ompl::base::StateSpacePtr space;
    

};

#endif