planning_interface.cpp

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/* Author: Ioan Sucan */

#include <moveit/planning_interface/planning_interface.h>
#include <boost/thread/mutex.hpp>
#include <set>

namespace
{
// keep track of currently active contexts
struct ActiveContexts
{
  boost::mutex mutex_;
  std::set<planning_interface::PlanningContext*> contexts_;
};

static ActiveContexts& getActiveContexts()
{
  static ActiveContexts ac;
  return ac;
}
}

planning_interface::PlanningContext::PlanningContext(const std::string &name, const std::string &group) :
  name_(name),
  group_(group)
{
  ActiveContexts &ac = getActiveContexts();
  boost::mutex::scoped_lock _(ac.mutex_);
  ac.contexts_.insert(this);
}

planning_interface::PlanningContext::~PlanningContext()
{
  ActiveContexts &ac = getActiveContexts();
  boost::mutex::scoped_lock _(ac.mutex_);
  ac.contexts_.erase(this);
}

void planning_interface::PlanningContext::setPlanningScene(const planning_scene::PlanningSceneConstPtr &planning_scene)
{
  planning_scene_ = planning_scene;
}

void planning_interface::PlanningContext::setMotionPlanRequest(const MotionPlanRequest &request)
{
  request_ = request;
  if (request_.allowed_planning_time <= 0.0)
  {
    logInform("The timeout for planning must be positive (%lf specified). Assuming one second instead.", request_.allowed_planning_time);
    request_.allowed_planning_time = 1.0;
  }
  if (request_.num_planning_attempts < 0)
    logError("The number of desired planning attempts should be positive. Assuming one attempt.");
  request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
}

bool planning_interface::PlannerManager::initialize(const robot_model::RobotModelConstPtr &, const std::string &)
{
  return true;
}

std::string planning_interface::PlannerManager::getDescription() const
{
  return "";
}

planning_interface::PlanningContextPtr planning_interface::PlannerManager::getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                                                              const MotionPlanRequest &req) const
{
  moveit_msgs::MoveItErrorCodes dummy;
  return getPlanningContext(planning_scene, req, dummy);
}

void planning_interface::PlannerManager::getPlanningAlgorithms(std::vector<std::string> &algs) const
{
  // nothing by default
  algs.clear();
}

void planning_interface::PlannerManager::setPlannerConfigurations(const PlannerConfigurationMap &pcs)
{
  config_settings_ = pcs;
}

void planning_interface::PlannerManager::terminate() const
{
  ActiveContexts &ac = getActiveContexts();
  boost::mutex::scoped_lock _(ac.mutex_);
  for (std::set<PlanningContext*>::iterator it = ac.contexts_.begin() ; it != ac.contexts_.end() ; ++it)
    (*it)->terminate();
}