manipulation_plan.h
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00034 
00035 /* Author: Ioan Sucan, Sachin Chitta */
00036 
00037 #ifndef MOVEIT_PICK_PLACE_MANIPULATION_PLAN_
00038 #define MOVEIT_PICK_PLACE_MANIPULATION_PLAN_
00039 
00040 #include <boost/shared_ptr.hpp>
00041 #include <moveit/robot_state/robot_state.h>
00042 #include <moveit/constraint_samplers/constraint_sampler.h>
00043 #include <moveit/plan_execution/plan_representation.h>
00044 #include <moveit_msgs/GripperTranslation.h>
00045 #include <moveit_msgs/RobotState.h>
00046 #include <moveit_msgs/RobotTrajectory.h>
00047 #include <moveit_msgs/MoveItErrorCodes.h>
00048 #include <moveit_msgs/Constraints.h>
00049 #include <string>
00050 #include <vector>
00051 
00052 namespace pick_place
00053 {
00054 
00055 struct ManipulationPlanSharedData
00056 {
00057   ManipulationPlanSharedData() 
00058     : planning_group_(NULL)
00059     , end_effector_group_(NULL)
00060     , ik_link_(NULL)
00061     , max_goal_sampling_attempts_(0)
00062     , minimize_object_distance_(false)
00063   {
00064   }
00065   
00066   const robot_model::JointModelGroup *planning_group_;
00067   const robot_model::JointModelGroup *end_effector_group_;
00068   const robot_model::LinkModel *ik_link_;
00069 
00070   unsigned int max_goal_sampling_attempts_;
00071 
00072   std::string planner_id_;
00073 
00074   bool minimize_object_distance_;
00075 
00076   moveit_msgs::Constraints path_constraints_;
00077 
00078   moveit_msgs::AttachedCollisionObject diff_attached_object_;
00079 
00080   ros::WallTime timeout_;
00081 };
00082 
00083 typedef boost::shared_ptr<ManipulationPlanSharedData> ManipulationPlanSharedDataPtr;
00084 typedef boost::shared_ptr<const ManipulationPlanSharedData> ManipulationPlanSharedDataConstPtr;
00085 
00086 struct ManipulationPlan
00087 {
00088   ManipulationPlan(const ManipulationPlanSharedDataConstPtr &shared_data) :
00089     shared_data_(shared_data),
00090     processing_stage_(0)
00091   {
00092   }
00093 
00095   void clear()
00096   {
00097     goal_sampler_.reset();
00098     trajectories_.clear();
00099     approach_state_.reset();
00100     possible_goal_states_.clear();
00101     processing_stage_ = 0;
00102   }
00103 
00104   // Shared data between manipulation plans (set at initialization)
00105   ManipulationPlanSharedDataConstPtr shared_data_;
00106 
00107   // the approach motion towards the goal
00108   moveit_msgs::GripperTranslation approach_;
00109 
00110   // the retreat motion away from the goal
00111   moveit_msgs::GripperTranslation retreat_;
00112 
00113   // the kinematic configuration of the end effector when approaching the goal (an open gripper)
00114   trajectory_msgs::JointTrajectory approach_posture_;
00115 
00116   // the kinematic configuration of the end effector when retreating from the goal (a closed gripper)
00117   trajectory_msgs::JointTrajectory retreat_posture_;
00118 
00119   // -------------- computed data --------------------------
00120   geometry_msgs::PoseStamped goal_pose_;
00121   Eigen::Affine3d transformed_goal_pose_;
00122 
00123   moveit_msgs::Constraints goal_constraints_;
00124 
00125   // Allows for the sampling of a kineamtic state for a particular group of a robot
00126   constraint_samplers::ConstraintSamplerPtr goal_sampler_;
00127 
00128   std::vector<robot_state::RobotStatePtr> possible_goal_states_;
00129 
00130   robot_state::RobotStatePtr approach_state_;
00131 
00132   // The sequence of trajectories produced for execution
00133   std::vector<plan_execution::ExecutableTrajectory> trajectories_;
00134 
00135   // An error code reflecting what went wrong (if anything)
00136   moveit_msgs::MoveItErrorCodes error_code_;
00137 
00138   // The processing stage that was last working on this plan, or was about to work on this plan
00139   std::size_t processing_stage_;
00140 
00141   // An id for this plan; this is usually the index of the Grasp / PlaceLocation in the input request
00142   std::size_t id_;
00143 
00144 };
00145 
00146 typedef boost::shared_ptr<ManipulationPlan> ManipulationPlanPtr;
00147 typedef boost::shared_ptr<const ManipulationPlan> ManipulationPlanConstPtr;
00148 
00149 }
00150 
00151 #endif


manipulation
Author(s): Ioan Sucan , Sachin Chitta , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:44:04