PlaceSequenceValidator.h

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/*
 * PlaceSequenceValidator.h
 *
 *  Created on: Oct 10, 2012
 */

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#ifndef PLACE_SEQUENCE_VALIDATOR_H_
#define PLACE_SEQUENCE_VALIDATOR_H_

#include <object_manipulator/place_execution/place_tester_fast.h>
#include <object_manipulator/place_execution/descend_retreat_place.h>
#include <object_manipulator/tools/hand_description.h>
#include <arm_kinematics_constraint_aware/arm_kinematics_solver_constraint_aware.h>
#include <tf/transform_datatypes.h>

class PlaceSequenceValidator : public object_manipulator::PlaceTesterFast
{
public:
        PlaceSequenceValidator();

        PlaceSequenceValidator(planning_environment::CollisionModels* cm = NULL,
                          const std::string& plugin_name="SIA20D_Mesh_manipulator_kinematics/IKFastKinematicsPlugin");

        virtual ~PlaceSequenceValidator();

        void setTcpToWristTransform(const tf::Transform &tcpTransform); // pose of the tcp relative to the wrist;

        std::map<std::string,arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware*>& getIkSolverMap()
        {
                return ik_solver_map_;
        }

        void testPlaces(const object_manipulation_msgs::PlaceGoal &place_goal,
            const std::vector<geometry_msgs::PoseStamped> &place_locations,
            std::vector<object_manipulator::PlaceExecutionInfo> &execution_info,
            bool return_on_first_hit);


protected:

        tf::Transform _TcpToWristTransform;
};

#endif /* PLACE_SEQUENCE_VALIDATOR_H_ */