planning_pipeline.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_
#define MOVEIT_PLANNING_PIPELINE_PLANNING_PIPELINE_

#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <pluginlib/class_loader.h>
#include <boost/scoped_ptr.hpp>
#include <ros/ros.h>

namespace planning_pipeline
{

class PlanningPipeline
{

public:

  static const std::string DISPLAY_PATH_TOPIC;

  static const std::string MOTION_PLAN_REQUEST_TOPIC;

  static const std::string MOTION_CONTACTS_TOPIC;

  PlanningPipeline(const robot_model::RobotModelConstPtr& model,
                   const ros::NodeHandle &nh = ros::NodeHandle("~"),
                   const std::string &planning_plugin_param_name = "planning_plugin",
                   const std::string &adapter_plugins_param_name = "request_adapters");

  PlanningPipeline(const robot_model::RobotModelConstPtr& model,
                   const ros::NodeHandle &nh,
                   const std::string &planning_plugin_name,
                   const std::vector<std::string> &adapter_plugin_names);

  void displayComputedMotionPlans(bool flag);

  void publishReceivedRequests(bool flag);
  
  void checkSolutionPaths(bool flag);
  
  bool getDisplayComputedMotionPlans() const
  {
    return display_computed_motion_plans_;
  }

  bool getPublishReceivedRequests() const
  {
    return publish_received_requests_;
  }

  bool getCheckSolutionPaths() const
  {
    return check_solution_paths_;
  }

  bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;

  bool generatePlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t> &adapter_added_state_index) const;

  void terminate() const;

  const std::string& getPlannerPluginName() const
  {
    return planner_plugin_name_;
  }

  const std::vector<std::string>& getAdapterPluginNames() const
  {
    return adapter_plugin_names_;
  }

  const planning_interface::PlannerManagerPtr& getPlannerManager()
  {
    return planner_instance_;
  }

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return kmodel_;
  }

private:

  void configure();

  ros::NodeHandle nh_;

  bool display_computed_motion_plans_;
  ros::Publisher display_path_publisher_;

  bool publish_received_requests_;
  ros::Publisher received_request_publisher_;

  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader_;
  planning_interface::PlannerManagerPtr planner_instance_;
  std::string planner_plugin_name_;

  boost::scoped_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > adapter_plugin_loader_;
  boost::scoped_ptr<planning_request_adapter::PlanningRequestAdapterChain> adapter_chain_;
  std::vector<std::string> adapter_plugin_names_;

  robot_model::RobotModelConstPtr kmodel_;

  bool check_solution_paths_;
  ros::Publisher contacts_publisher_;

};

MOVEIT_CLASS_FORWARD(PlanningPipeline);

}

#endif