plan_execution.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLAN_EXECUTION_PLAN_EXECUTION_
#define MOVEIT_PLAN_EXECUTION_PLAN_EXECUTION_

#include <moveit/plan_execution/plan_representation.h>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/planning_scene_monitor/trajectory_monitor.h>
#include <moveit/sensor_manager/sensor_manager.h>
#include <pluginlib/class_loader.h>
#include <boost/scoped_ptr.hpp>

namespace plan_execution
{

class PlanExecution
{
public:

  struct Options
  {
    Options() : replan_(false),
                replan_attempts_(0),
                replan_delay_(0.0)
    {
    }

    bool replan_;

    unsigned int replan_attempts_;

    double replan_delay_;

    ExecutableMotionPlanComputationFn plan_callback_;

    boost::function<bool(ExecutableMotionPlan &plan_to_update,
                         const std::pair<int, int> &trajectory_index)> repair_plan_callback_;

    boost::function<void()> before_plan_callback_;
    boost::function<void()> before_execution_callback_;
    boost::function<void()> done_callback_;
  };

  PlanExecution(const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor,
                const trajectory_execution_manager::TrajectoryExecutionManagerPtr& trajectory_execution);
  ~PlanExecution();

  const planning_scene_monitor::PlanningSceneMonitorPtr& getPlanningSceneMonitor() const
  {
    return planning_scene_monitor_;
  }

  const trajectory_execution_manager::TrajectoryExecutionManagerPtr& getTrajectoryExecutionManager() const
  {
    return trajectory_execution_manager_;
  }

  double getTrajectoryStateRecordingFrequency() const
  {
    if (trajectory_monitor_)
      return trajectory_monitor_->getSamplingFrequency();
    else
      return 0.0;
  }

  void setTrajectoryStateRecordingFrequency(double freq)
  {
    if (trajectory_monitor_)
      trajectory_monitor_->setSamplingFrequency(freq);
  }

  void setMaxReplanAttempts(unsigned int attempts)
  {
    default_max_replan_attempts_ = attempts;
  }

  unsigned int getMaxReplanAttempts() const
  {
    return default_max_replan_attempts_;
  }

  void planAndExecute(ExecutableMotionPlan &plan, const Options &opt);
  void planAndExecute(ExecutableMotionPlan &plan, const moveit_msgs::PlanningScene &scene_diff, const Options &opt);

  void stop();

  std::string getErrorCodeString(const moveit_msgs::MoveItErrorCodes& error_code);

private:

  void planAndExecuteHelper(ExecutableMotionPlan &plan, const Options &opt);
  moveit_msgs::MoveItErrorCodes executeAndMonitor(const ExecutableMotionPlan &plan);
  bool isRemainingPathValid(const ExecutableMotionPlan &plan);
  bool isRemainingPathValid(const ExecutableMotionPlan &plan, const std::pair<int, int> &path_segment);

  void planningSceneUpdatedCallback(const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type);
  void doneWithTrajectoryExecution(const moveit_controller_manager::ExecutionStatus &status);
  void successfulTrajectorySegmentExecution(const ExecutableMotionPlan *plan, std::size_t index);

  ros::NodeHandle node_handle_;
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
  planning_scene_monitor::TrajectoryMonitorPtr trajectory_monitor_;

  unsigned int default_max_replan_attempts_;

  bool preempt_requested_;
  bool new_scene_update_;

  bool execution_complete_;
  bool path_became_invalid_;

  class DynamicReconfigureImpl;
  DynamicReconfigureImpl *reconfigure_impl_;
};

typedef boost::shared_ptr<PlanExecution> PlanExecutionPtr;
typedef boost::shared_ptr<const PlanExecution> PlanExecutionConstPtr;

}
#endif