chomp_plugin.cpp

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#include <planning_interface/planning_interface.h>
#include <planning_scene/planning_scene.h>
#include <planning_models/robot_model.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <chomp_interface_ros/chomp_interface_ros.h>

#include <boost/shared_ptr.hpp>

#include <pluginlib/class_list_macros.h>

namespace chomp_interface_ros
{

class CHOMPPlanner : public planning_interface::Planner
{
public:
  void init(const planning_models::RobotModelConstPtr& model)
  {
    chomp_interface_.reset(new CHOMPInterfaceROS(model));
  }

  bool canServiceRequest(const moveit_msgs::GetMotionPlan::Request &req,
                         planning_interface::PlannerCapability &capabilities) const
  {
    // TODO: this is a dummy implementation
    //      capabilities.dummy = false;
    return true;
  }

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::GetMotionPlan::Request &req,
             moveit_msgs::GetMotionPlan::Response &res) const
  {
    return chomp_interface_->solve(planning_scene, req,
                                   chomp_interface_->getParams(),res);
  }

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::GetMotionPlan::Request &req,
             moveit_msgs::MotionPlanDetailedResponse &res) const
  {
    moveit_msgs::GetMotionPlan::Response res2;
    if (chomp_interface_->solve(planning_scene, req,
                                chomp_interface_->getParams(),res2))
    {
      res.trajectory_start = res2.trajectory_start;
      res.trajectory.push_back(res2.trajectory);
      res.description.push_back("plan");
      res.processing_time.push_back(res2.planning_time);
      return true;
    }
    else
      return false;
  }

  std::string getDescription() const { return "CHOMP"; }

  void getPlanningAlgorithms(std::vector<std::string> &algs) const
  {
    algs.resize(1);
    algs[0] = "CHOMP";
  }

  void terminate() const
  {
    //TODO - make interruptible
  }

private:
  boost::shared_ptr<CHOMPInterfaceROS> chomp_interface_;
};

} // ompl_interface_ros

PLUGINLIB_EXPORT_CLASS( chomp_interface_ros::CHOMPPlanner, planning_interface::Planner);