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_PLAN_EXECUTION_PLAN_REPRESENTATION_ 00038 #define MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_ 00039 00040 #include <moveit/planning_scene_monitor/planning_scene_monitor.h> 00041 #include <moveit/robot_trajectory/robot_trajectory.h> 00042 #include <moveit_msgs/MoveItErrorCodes.h> 00043 #include <boost/function.hpp> 00044 00045 namespace plan_execution 00046 { 00047 00048 struct ExecutableMotionPlan; 00049 00051 struct ExecutableTrajectory 00052 { 00053 ExecutableTrajectory() : 00054 trajectory_monitoring_(true) 00055 { 00056 } 00057 00058 ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr &trajectory, 00059 const std::string &description) : 00060 trajectory_(trajectory), 00061 description_(description), 00062 trajectory_monitoring_(true) 00063 { 00064 } 00065 00066 robot_trajectory::RobotTrajectoryPtr trajectory_; 00067 std::string description_; 00068 bool trajectory_monitoring_; 00069 collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_; 00070 boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_; 00071 }; 00072 00074 struct ExecutableMotionPlan 00075 { 00076 planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_; 00077 planning_scene::PlanningSceneConstPtr planning_scene_; 00078 00079 std::vector<ExecutableTrajectory> plan_components_; 00080 00081 // The trace of the trajectory recorded during execution 00082 robot_trajectory::RobotTrajectoryPtr executed_trajectory_; 00083 00085 moveit_msgs::MoveItErrorCodes error_code_; 00086 }; 00087 00089 typedef boost::function<bool(ExecutableMotionPlan &plan)> ExecutableMotionPlanComputationFn; 00090 00091 } 00092 #endif