planning_request_adapter.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00038 #define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/planning_interface/planning_interface.h>
00042 #include <moveit/planning_scene/planning_scene.h>
00043 #include <boost/function.hpp>
00044 
00046 namespace planning_request_adapter
00047 {
00048 MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);
00049 
00050 class PlanningRequestAdapter
00051 {
00052 public:
00053   typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
00054                                const planning_interface::MotionPlanRequest& req,
00055                                planning_interface::MotionPlanResponse& res)>
00056       PlannerFn;
00057 
00058   PlanningRequestAdapter()
00059   {
00060   }
00061 
00062   virtual ~PlanningRequestAdapter()
00063   {
00064   }
00065 
00067   virtual std::string getDescription() const
00068   {
00069     return "";
00070   }
00071 
00072   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00073                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00074                     const planning_interface::MotionPlanRequest& req,
00075                     planning_interface::MotionPlanResponse& res) const;
00076 
00077   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00078                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00079                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
00080                     std::vector<std::size_t>& added_path_index) const;
00081 
00087   virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
00088                             const planning_interface::MotionPlanRequest& req,
00089                             planning_interface::MotionPlanResponse& res,
00090                             std::vector<std::size_t>& added_path_index) const = 0;
00091 };
00092 
00094 class PlanningRequestAdapterChain
00095 {
00096 public:
00097   PlanningRequestAdapterChain()
00098   {
00099   }
00100 
00101   void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
00102   {
00103     adapters_.push_back(adapter);
00104   }
00105 
00106   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00107                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00108                     const planning_interface::MotionPlanRequest& req,
00109                     planning_interface::MotionPlanResponse& res) const;
00110 
00111   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00112                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00113                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
00114                     std::vector<std::size_t>& added_path_index) const;
00115 
00116 private:
00117   std::vector<PlanningRequestAdapterConstPtr> adapters_;
00118 };
00119 }
00120 
00121 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Apr 20 2018 03:31:11