planning_request_adapter.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00038 #define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00039 
00040 #include <moveit/planning_interface/planning_interface.h>
00041 #include <moveit/planning_scene/planning_scene.h>
00042 #include <boost/function.hpp>
00043 
00045 namespace planning_request_adapter
00046 {
00047 
00048 class PlanningRequestAdapter
00049 {
00050 public:
00051 
00052   typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
00053                                const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn;
00054 
00055   PlanningRequestAdapter()
00056   {
00057   }
00058 
00059   virtual ~PlanningRequestAdapter()
00060   {
00061   }
00062 
00064   virtual std::string getDescription() const { return ""; }
00065 
00066   bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
00067                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00068                     const planning_interface::MotionPlanRequest &req,
00069                     planning_interface::MotionPlanResponse &res) const;
00070 
00071   bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
00072                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00073                     const planning_interface::MotionPlanRequest &req,
00074                     planning_interface::MotionPlanResponse &res,
00075                     std::vector<std::size_t> &added_path_index) const;
00076 
00082   virtual bool adaptAndPlan(const PlannerFn &planner,
00083                             const planning_scene::PlanningSceneConstPtr& planning_scene,
00084                             const planning_interface::MotionPlanRequest &req,
00085                             planning_interface::MotionPlanResponse &res,
00086                             std::vector<std::size_t> &added_path_index) const = 0;
00087 
00088 };
00089 
00090 typedef boost::shared_ptr<PlanningRequestAdapter> PlanningRequestAdapterPtr;
00091 typedef boost::shared_ptr<const PlanningRequestAdapter> PlanningRequestAdapterConstPtr;
00092 
00094 class PlanningRequestAdapterChain
00095 {
00096 public:
00097   PlanningRequestAdapterChain()
00098   {
00099   }
00100 
00101   void addAdapter(const PlanningRequestAdapterConstPtr &adapter)
00102   {
00103     adapters_.push_back(adapter);
00104   }
00105 
00106   bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
00107                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00108                     const planning_interface::MotionPlanRequest &req,
00109                     planning_interface::MotionPlanResponse &res) const;
00110 
00111   bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
00112                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00113                     const planning_interface::MotionPlanRequest &req,
00114                     planning_interface::MotionPlanResponse &res,
00115                     std::vector<std::size_t> &added_path_index) const;
00116 
00117 private:
00118   std::vector<PlanningRequestAdapterConstPtr> adapters_;
00119 };
00120 
00121 
00122 }
00123 
00124 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52