move_group_capability.h
Go to the documentation of this file.
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_MOVE_GROUP_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_CAPABILITY_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00042 #include <moveit/planning_interface/planning_interface.h>
00043 #include <moveit/plan_execution/plan_representation.h>
00044 #include <moveit/move_group/move_group_context.h>
00045 
00046 namespace move_group
00047 {
00048 enum MoveGroupState
00049 {
00050   IDLE,
00051   PLANNING,
00052   MONITOR,
00053   LOOK
00054 };
00055 
00056 MOVEIT_CLASS_FORWARD(MoveGroupCapability);
00057 
00058 class MoveGroupCapability
00059 {
00060 public:
00061   MoveGroupCapability(const std::string& capability_name) : node_handle_("~"), capability_name_(capability_name)
00062   {
00063   }
00064 
00065   virtual ~MoveGroupCapability()
00066   {
00067   }
00068 
00069   void setContext(const MoveGroupContextPtr& context);
00070 
00071   virtual void initialize() = 0;
00072 
00073   const std::string& getName() const
00074   {
00075     return capability_name_;
00076   }
00077 
00078 protected:
00079   std::string getActionResultString(const moveit_msgs::MoveItErrorCodes& error_code, bool planned_trajectory_empty,
00080                                     bool plan_only);
00081   std::string stateToStr(MoveGroupState state) const;
00082 
00083   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
00084                     moveit_msgs::RobotState& first_state_msg,
00085                     std::vector<moveit_msgs::RobotTrajectory>& trajectory_msg) const;
00086   void convertToMsg(const robot_trajectory::RobotTrajectoryPtr& trajectory, moveit_msgs::RobotState& first_state_msg,
00087                     moveit_msgs::RobotTrajectory& trajectory_msg) const;
00088   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
00089                     moveit_msgs::RobotState& first_state_msg, moveit_msgs::RobotTrajectory& trajectory_msg) const;
00090 
00091   planning_interface::MotionPlanRequest
00092   clearRequestStartState(const planning_interface::MotionPlanRequest& request) const;
00093   moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene& scene) const;
00094   bool performTransform(geometry_msgs::PoseStamped& pose_msg, const std::string& target_frame) const;
00095 
00096   ros::NodeHandle root_node_handle_;
00097   ros::NodeHandle node_handle_;
00098   std::string capability_name_;
00099   MoveGroupContextPtr context_;
00100 };
00101 }
00102 
00103 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:35