plan_representation.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2012, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
#define MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_

#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit_msgs/MoveItErrorCodes.h>
#include <boost/function.hpp>

namespace plan_execution
{

struct ExecutableMotionPlan;
struct ExecutableTrajectory
{
  ExecutableTrajectory()
  {
  }

  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr &trajectory,
                       const std::string &description) :
    trajectory_(trajectory),
    description_(description)
  {
  }

  robot_trajectory::RobotTrajectoryPtr trajectory_;
  std::string description_;
  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
  boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
};

struct ExecutableMotionPlan
{
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  planning_scene::PlanningSceneConstPtr planning_scene_;

  std::vector<ExecutableTrajectory> plan_components_;

  // The trace of the trajectory recorded during execution
  robot_trajectory::RobotTrajectoryPtr executed_trajectory_;

  moveit_msgs::MoveItErrorCodes error_code_;
};

typedef boost::function<bool(ExecutableMotionPlan &plan)> ExecutableMotionPlanComputationFn;

}
#endif