planning_scene_interface.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_

#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_msgs/AttachedCollisionObject.h>

namespace moveit
{
namespace planning_interface
{

class PlanningSceneInterface
{
public:
  PlanningSceneInterface();
  ~PlanningSceneInterface();

  std::vector<std::string> getKnownObjectNames(bool with_type = false);

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type, std::vector<std::string> &types);

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type = false)
  {
    std::vector<std::string> empty_vector_string;
    return getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type, empty_vector_string);
  };

  std::map<std::string, geometry_msgs::Pose> getObjectPoses(const std::vector<std::string> &object_ids);  

  void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects) const;  

  void removeCollisionObjects(const std::vector<std::string> &object_ids) const;
  
private:

  class PlanningSceneInterfaceImpl;
  PlanningSceneInterfaceImpl *impl_;

};

}
}

#endif