fix_workspace_bounds.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/planning_request_adapter/planning_request_adapter.h>
00038 #include <class_loader/class_loader.h>
00039 #include <ros/ros.h>
00040 
00041 namespace default_planner_request_adapters
00042 {
00043 class FixWorkspaceBounds : public planning_request_adapter::PlanningRequestAdapter
00044 {
00045 public:
00046   static const std::string WBOUNDS_PARAM_NAME;
00047 
00048   FixWorkspaceBounds() : planning_request_adapter::PlanningRequestAdapter(), nh_("~")
00049   {
00050     if (!nh_.getParam(WBOUNDS_PARAM_NAME, workspace_extent_))
00051     {
00052       workspace_extent_ = 10.0;
00053       ROS_INFO_STREAM("Param '" << WBOUNDS_PARAM_NAME << "' was not set. Using default value: " << workspace_extent_);
00054     }
00055     else
00056       ROS_INFO_STREAM("Param '" << WBOUNDS_PARAM_NAME << "' was set to " << workspace_extent_);
00057     workspace_extent_ /= 2.0;
00058   }
00059 
00060   virtual std::string getDescription() const
00061   {
00062     return "Fix Workspace Bounds";
00063   }
00064 
00065   virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
00066                             const planning_interface::MotionPlanRequest& req,
00067                             planning_interface::MotionPlanResponse& res,
00068                             std::vector<std::size_t>& added_path_index) const
00069   {
00070     ROS_DEBUG("Running '%s'", getDescription().c_str());
00071     const moveit_msgs::WorkspaceParameters& wparams = req.workspace_parameters;
00072     if (wparams.min_corner.x == wparams.max_corner.x && wparams.min_corner.x == 0.0 &&
00073         wparams.min_corner.y == wparams.max_corner.y && wparams.min_corner.y == 0.0 &&
00074         wparams.min_corner.z == wparams.max_corner.z && wparams.min_corner.z == 0.0)
00075     {
00076       ROS_DEBUG("It looks like the planning volume was not specified. Using default values.");
00077       planning_interface::MotionPlanRequest req2 = req;
00078       moveit_msgs::WorkspaceParameters& default_wp = req2.workspace_parameters;
00079       default_wp.min_corner.x = default_wp.min_corner.y = default_wp.min_corner.z = -workspace_extent_;
00080       default_wp.max_corner.x = default_wp.max_corner.y = default_wp.max_corner.z = workspace_extent_;
00081       return planner(planning_scene, req2, res);
00082     }
00083     else
00084       return planner(planning_scene, req, res);
00085   }
00086 
00087 private:
00088   ros::NodeHandle nh_;
00089   double workspace_extent_;
00090 };
00091 
00092 const std::string FixWorkspaceBounds::WBOUNDS_PARAM_NAME = "default_workspace_bounds";
00093 }
00094 
00095 CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::FixWorkspaceBounds,
00096                             planning_request_adapter::PlanningRequestAdapter);


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jan 17 2018 03:32:07