00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, 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 PLANNING_ENVIRONMENT_MODELS_COLLISION_MODELS_INTERFACE_ 00038 #define PLANNING_ENVIRONMENT_MODELS_COLLISION_MODELS_INTERFACE_ 00039 00040 #include "planning_environment/models/collision_models.h" 00041 #include "planning_environment/models/robot_models.h" 00042 #include <arm_navigation_msgs/SyncPlanningSceneAction.h> 00043 #include <actionlib/server/simple_action_server.h> 00044 00045 namespace planning_environment 00046 { 00047 00050 class CollisionModelsInterface : public CollisionModels 00051 { 00052 public: 00053 00054 // 00055 // Constructors 00056 // 00057 00058 CollisionModelsInterface(const std::string &description, bool register_with_server = true); 00059 00060 virtual ~CollisionModelsInterface(void); 00061 00062 void syncPlanningSceneCallback(const arm_navigation_msgs::SyncPlanningSceneGoalConstPtr& scene); 00063 00064 bool setPlanningSceneWithCallbacks(const arm_navigation_msgs::PlanningScene& scene); 00065 00066 void addSetPlanningSceneCallback(const boost::function<void(const arm_navigation_msgs::PlanningScene &scene)> &callback) 00067 { 00068 set_planning_scene_callback_ = callback; 00069 } 00070 00071 void addRevertPlanningSceneCallback(const boost::function<void(void)> &callback) 00072 { 00073 revert_planning_scene_callback_ = callback; 00074 } 00075 00076 planning_models::KinematicState* getPlanningSceneState() const{ 00077 return planning_scene_state_; 00078 } 00079 00080 void resetToStartState(planning_models::KinematicState& state) const; 00081 00082 const arm_navigation_msgs::PlanningScene& getLastPlanningScene() const { 00083 return last_planning_scene_; 00084 } 00085 00086 collision_space::EnvironmentModel* getOde() { 00087 return ode_collision_model_; 00088 } 00089 00090 protected: 00091 00092 planning_models::KinematicState* planning_scene_state_; 00093 arm_navigation_msgs::PlanningScene last_planning_scene_; 00094 00095 boost::function<void(const arm_navigation_msgs::PlanningScene &scene)> set_planning_scene_callback_; 00096 boost::function<void(void)> revert_planning_scene_callback_; 00097 ros::ServiceClient env_server_register_client_; 00098 00099 actionlib::SimpleActionServer<arm_navigation_msgs::SyncPlanningSceneAction> *action_server_; 00100 }; 00101 00102 } 00103 00104 #endif 00105