planning_request_adapter.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
#define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_

#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_scene/planning_scene.h>
#include <boost/function.hpp>

namespace planning_request_adapter
{

class PlanningRequestAdapter
{
public:

  typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
                               const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn;

  PlanningRequestAdapter()
  {
  }

  virtual ~PlanningRequestAdapter()
  {
  }

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

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest &req,
                    planning_interface::MotionPlanResponse &res) const;

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest &req,
                    planning_interface::MotionPlanResponse &res,
                    std::vector<std::size_t> &added_path_index) const;

  virtual bool adaptAndPlan(const PlannerFn &planner,
                            const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest &req,
                            planning_interface::MotionPlanResponse &res,
                            std::vector<std::size_t> &added_path_index) const = 0;

};

typedef boost::shared_ptr<PlanningRequestAdapter> PlanningRequestAdapterPtr;
typedef boost::shared_ptr<const PlanningRequestAdapter> PlanningRequestAdapterConstPtr;

class PlanningRequestAdapterChain
{
public:
  PlanningRequestAdapterChain()
  {
  }

  void addAdapter(const PlanningRequestAdapterConstPtr &adapter)
  {
    adapters_.push_back(adapter);
  }

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest &req,
                    planning_interface::MotionPlanResponse &res) const;

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest &req,
                    planning_interface::MotionPlanResponse &res,
                    std::vector<std::size_t> &added_path_index) const;

private:
  std::vector<PlanningRequestAdapterConstPtr> adapters_;
};


}

#endif