sbpl_meta_interface.h

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#ifndef MOVEIT_SBPL_META_INTERFACE_H_
#define MOVEIT_SBPL_META_INTERFACE_H_

#include <sbpl/headers.h>
#include <planning_scene/planning_scene.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <sbpl_interface/sbpl_interface.h>
#include <boost/thread.hpp>

namespace sbpl_interface
{
class SBPLMetaInterface
{
public:

  SBPLMetaInterface(const planning_models::RobotModelConstPtr& kmodel);
  virtual ~SBPLMetaInterface(){}

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::GetMotionPlan::Request &req,
             moveit_msgs::GetMotionPlan::Response &res);

  const PlanningStatistics& getLastPlanningStatistics() const {
    return last_planning_statistics_;
  }

protected:

  void runSolver(bool use_first,
                 const planning_scene::PlanningSceneConstPtr& planning_scene,
                 const moveit_msgs::GetMotionPlan::Request &req,
                 moveit_msgs::GetMotionPlan::Response &res,
                 const PlanningParameters& params);

  boost::mutex planner_done_mutex_;
  boost::condition_variable planner_done_condition_;
  bool first_ok_;
  bool first_done_;
  bool second_ok_;
  bool second_done_;

  boost::shared_ptr<sbpl_interface::SBPLInterface> sbpl_interface_first_;
  boost::shared_ptr<sbpl_interface::SBPLInterface> sbpl_interface_second_;

  PlanningStatistics last_planning_statistics_;
};

}

#endif