move_group_context.cpp
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 #include <moveit/move_group/move_group_context.h>
00038 
00039 #include <moveit/planning_pipeline/planning_pipeline.h>
00040 #include <moveit/plan_execution/plan_execution.h>
00041 #include <moveit/plan_execution/plan_with_sensing.h>
00042 
00043 move_group::MoveGroupContext::MoveGroupContext(
00044     const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, bool allow_trajectory_execution,
00045     bool debug)
00046   : planning_scene_monitor_(planning_scene_monitor)
00047   , allow_trajectory_execution_(allow_trajectory_execution)
00048   , debug_(debug)
00049 {
00050   planning_pipeline_.reset(new planning_pipeline::PlanningPipeline(planning_scene_monitor_->getRobotModel()));
00051 
00052   if (allow_trajectory_execution_)
00053   {
00054     trajectory_execution_manager_.reset(new trajectory_execution_manager::TrajectoryExecutionManager(
00055         planning_scene_monitor_->getRobotModel(), planning_scene_monitor_->getStateMonitor()));
00056     plan_execution_.reset(new plan_execution::PlanExecution(planning_scene_monitor_, trajectory_execution_manager_));
00057     plan_with_sensing_.reset(new plan_execution::PlanWithSensing(trajectory_execution_manager_));
00058     if (debug)
00059       plan_with_sensing_->displayCostSources(true);
00060   }
00061 
00062   // configure the planning pipeline
00063   planning_pipeline_->displayComputedMotionPlans(true);
00064   planning_pipeline_->checkSolutionPaths(true);
00065 
00066   if (debug_)
00067     planning_pipeline_->publishReceivedRequests(true);
00068 }
00069 
00070 move_group::MoveGroupContext::~MoveGroupContext()
00071 {
00072   plan_with_sensing_.reset();
00073   plan_execution_.reset();
00074   trajectory_execution_manager_.reset();
00075   planning_pipeline_.reset();
00076   planning_scene_monitor_.reset();
00077 }
00078 
00079 bool move_group::MoveGroupContext::status() const
00080 {
00081   const planning_interface::PlannerManagerPtr& planner_interface = planning_pipeline_->getPlannerManager();
00082   if (planner_interface)
00083   {
00084     ROS_INFO_STREAM("MoveGroup context using planning plugin " << planning_pipeline_->getPlannerPluginName());
00085     ROS_INFO_STREAM("MoveGroup context initialization complete");
00086     return true;
00087   }
00088   else
00089   {
00090     ROS_WARN_STREAM("MoveGroup running was unable to load " << planning_pipeline_->getPlannerPluginName());
00091     return false;
00092   }
00093 }


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Dec 26 2017 03:34:23