00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef _CHOMP_PLANNER_H_ 00038 #define _CHOMP_PLANNER_H_ 00039 00040 #include <chomp_motion_planner/chomp_parameters.h> 00041 #include <moveit_msgs/GetMotionPlan.h> 00042 #include <planning_scene/planning_scene.h> 00043 00044 namespace chomp { 00045 00046 class ChompPlanner 00047 { 00048 public: 00049 ChompPlanner(const planning_models::RobotModelConstPtr& kmodel); 00050 virtual ~ChompPlanner(){}; 00051 00052 bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, 00053 const moveit_msgs::GetMotionPlan::Request &req, 00054 const ChompParameters& params, 00055 moveit_msgs::GetMotionPlan::Response &res) const; 00056 00057 protected: 00058 00060 // bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, 00061 // const moveit_msgs::GetMotionPlan::Request &req, 00062 // moveit_msgs::MotionPlanDetailedResponse &res) const; 00063 00064 //void terminateSolve(); 00065 00066 }; 00067 00068 } 00069 00070 #endif