planning_monitor.h
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00034 
00037 #ifndef PLANNING_ENVIRONMENT_MONITORS_PLANNING_MONITOR_
00038 #define PLANNING_ENVIRONMENT_MONITORS_PLANNING_MONITOR_
00039 
00040 #include "planning_environment/monitors/collision_space_monitor.h"
00041 #include <trajectory_msgs/JointTrajectory.h>
00042 #include <arm_navigation_msgs/Constraints.h>
00043 #include <arm_navigation_msgs/GetMotionPlan.h>
00044 #include <arm_navigation_msgs/ArmNavigationErrorCodes.h>
00045 #include <iostream>
00046 
00047 namespace planning_environment
00048 {
00053 class PlanningMonitor : public CollisionSpaceMonitor
00054 {
00055 public:
00056                 
00057   PlanningMonitor(CollisionModels *cm, tf::TransformListener *tf) : CollisionSpaceMonitor(cm, tf)
00058   {
00059     loadParams();
00060     use_collision_map_ = true;
00061   }
00062         
00063   virtual ~PlanningMonitor(void)
00064   {
00065   }
00066         
00067   bool getCompletePlanningScene(const arm_navigation_msgs::PlanningScene& planning_diff,
00068                                 const arm_navigation_msgs::OrderedCollisionOperations& ordered_collision_operations,
00069                                 arm_navigation_msgs::PlanningScene& planning_scene) const;
00070 
00071   void getAllFixedFrameTransforms(std::vector<geometry_msgs::TransformStamped>& transform_vec) const;
00072 
00073 protected:
00074 
00076   void loadParams(void);
00077         
00078   double intervalCollisionMap_;
00079   double intervalState_;
00080   double intervalPose_;
00081 };      
00082 }
00083 
00084 #endif


planning_environment
Author(s): Ioan Sucan
autogenerated on Mon Dec 2 2013 12:34:43