00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, 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 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 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_INTERFACE_ 00038 #define MOVEIT_PLANNING_INTERFACE_PLANNING_INTERFACE_ 00039 00040 #include <moveit/macros/class_forward.h> 00041 #include <moveit/planning_interface/planning_request.h> 00042 #include <moveit/planning_interface/planning_response.h> 00043 #include <string> 00044 #include <map> 00045 00046 namespace planning_scene 00047 { 00048 MOVEIT_CLASS_FORWARD(PlanningScene); 00049 } 00050 00052 namespace planning_interface 00053 { 00054 00059 struct PlannerConfigurationSettings 00060 { 00062 std::string group; 00063 00064 /* \brief Name of the configuration. If there is only one configuration, this should be the same as the group name. 00065 If there are multiple configurations, the form "group_name[config_name]" is expected for the name. */ 00066 std::string name; 00067 00069 std::map<std::string, std::string> config; 00070 }; 00071 00073 typedef std::map<std::string, PlannerConfigurationSettings> PlannerConfigurationMap; 00074 00075 00078 class PlanningContext 00079 { 00080 public: 00081 00083 PlanningContext(const std::string &name, const std::string &group); 00084 00085 virtual ~PlanningContext(); 00086 00088 const std::string& getGroupName() const 00089 { 00090 return group_; 00091 } 00092 00094 const std::string& getName() const 00095 { 00096 return name_; 00097 } 00098 00100 const planning_scene::PlanningSceneConstPtr& getPlanningScene() const 00101 { 00102 return planning_scene_; 00103 } 00104 00106 const MotionPlanRequest& getMotionPlanRequest() const 00107 { 00108 return request_; 00109 } 00110 00112 void setPlanningScene(const planning_scene::PlanningSceneConstPtr &planning_scene); 00113 00115 void setMotionPlanRequest(const MotionPlanRequest &request); 00116 00118 virtual bool solve(MotionPlanResponse &res) = 0; 00119 00121 virtual bool solve(MotionPlanDetailedResponse &res) = 0; 00122 00124 virtual bool terminate() = 0; 00125 00127 virtual void clear() = 0; 00128 00129 protected: 00130 00132 std::string name_; 00133 00135 std::string group_; 00136 00138 planning_scene::PlanningSceneConstPtr planning_scene_; 00139 00141 MotionPlanRequest request_; 00142 }; 00143 00144 MOVEIT_CLASS_FORWARD(PlanningContext); 00145 00147 class PlannerManager 00148 { 00149 public: 00150 00151 PlannerManager() 00152 { 00153 } 00154 00155 virtual ~PlannerManager() 00156 { 00157 } 00158 00162 virtual bool initialize(const robot_model::RobotModelConstPtr& model, const std::string &ns); 00163 00165 virtual std::string getDescription() const; 00166 00168 virtual void getPlanningAlgorithms(std::vector<std::string> &algs) const; 00169 00175 virtual PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene, 00176 const MotionPlanRequest &req, 00177 moveit_msgs::MoveItErrorCodes &error_code) const = 0; 00178 00180 PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene, 00181 const MotionPlanRequest &req) const; 00182 00184 virtual bool canServiceRequest(const MotionPlanRequest &req) const = 0; 00185 00187 virtual void setPlannerConfigurations(const PlannerConfigurationMap &pcs); 00188 00190 const PlannerConfigurationMap& getPlannerConfigurations() const 00191 { 00192 return config_settings_; 00193 } 00194 00196 void terminate() const; 00197 00198 protected: 00199 00205 PlannerConfigurationMap config_settings_; 00206 }; 00207 00208 MOVEIT_CLASS_FORWARD(PlannerManager); 00209 00210 } // planning_interface 00211 00212 #endif