planning_interface.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/planning_interface/planning_interface.h>
00038 #include <boost/thread/mutex.hpp>
00039 #include <set>
00040 
00041 namespace
00042 {
00043 // keep track of currently active contexts
00044 struct ActiveContexts
00045 {
00046   boost::mutex mutex_;
00047   std::set<planning_interface::PlanningContext*> contexts_;
00048 };
00049 
00050 static ActiveContexts& getActiveContexts()
00051 {
00052   static ActiveContexts ac;
00053   return ac;
00054 }
00055 }
00056 
00057 planning_interface::PlanningContext::PlanningContext(const std::string& name, const std::string& group)
00058   : name_(name), group_(group)
00059 {
00060   ActiveContexts& ac = getActiveContexts();
00061   boost::mutex::scoped_lock _(ac.mutex_);
00062   ac.contexts_.insert(this);
00063 }
00064 
00065 planning_interface::PlanningContext::~PlanningContext()
00066 {
00067   ActiveContexts& ac = getActiveContexts();
00068   boost::mutex::scoped_lock _(ac.mutex_);
00069   ac.contexts_.erase(this);
00070 }
00071 
00072 void planning_interface::PlanningContext::setPlanningScene(const planning_scene::PlanningSceneConstPtr& planning_scene)
00073 {
00074   planning_scene_ = planning_scene;
00075 }
00076 
00077 void planning_interface::PlanningContext::setMotionPlanRequest(const MotionPlanRequest& request)
00078 {
00079   request_ = request;
00080   if (request_.allowed_planning_time <= 0.0)
00081   {
00082     logInform("The timeout for planning must be positive (%lf specified). Assuming one second instead.",
00083               request_.allowed_planning_time);
00084     request_.allowed_planning_time = 1.0;
00085   }
00086   if (request_.num_planning_attempts < 0)
00087     logError("The number of desired planning attempts should be positive. Assuming one attempt.");
00088   request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
00089 }
00090 
00091 bool planning_interface::PlannerManager::initialize(const robot_model::RobotModelConstPtr&, const std::string&)
00092 {
00093   return true;
00094 }
00095 
00096 std::string planning_interface::PlannerManager::getDescription() const
00097 {
00098   return "";
00099 }
00100 
00101 planning_interface::PlanningContextPtr planning_interface::PlannerManager::getPlanningContext(
00102     const planning_scene::PlanningSceneConstPtr& planning_scene, const MotionPlanRequest& req) const
00103 {
00104   moveit_msgs::MoveItErrorCodes dummy;
00105   return getPlanningContext(planning_scene, req, dummy);
00106 }
00107 
00108 void planning_interface::PlannerManager::getPlanningAlgorithms(std::vector<std::string>& algs) const
00109 {
00110   // nothing by default
00111   algs.clear();
00112 }
00113 
00114 void planning_interface::PlannerManager::setPlannerConfigurations(const PlannerConfigurationMap& pcs)
00115 {
00116   config_settings_ = pcs;
00117 }
00118 
00119 void planning_interface::PlannerManager::terminate() const
00120 {
00121   ActiveContexts& ac = getActiveContexts();
00122   boost::mutex::scoped_lock _(ac.mutex_);
00123   for (std::set<PlanningContext*>::iterator it = ac.contexts_.begin(); it != ac.contexts_.end(); ++it)
00124     (*it)->terminate();
00125 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:36