plan_with_sensing.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_PLAN_EXECUTION_PLAN_WITH_SENSING_
00038 #define MOVEIT_PLAN_EXECUTION_PLAN_WITH_SENSING_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/plan_execution/plan_representation.h>
00042 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
00043 
00044 #include <moveit/planning_scene_monitor/trajectory_monitor.h>
00045 #include <moveit/sensor_manager/sensor_manager.h>
00046 #include <pluginlib/class_loader.h>
00047 #include <boost/scoped_ptr.hpp>
00048 
00049 namespace plan_execution
00050 {
00051 MOVEIT_CLASS_FORWARD(PlanWithSensing);
00052 
00053 class PlanWithSensing
00054 {
00055 public:
00056   PlanWithSensing(const trajectory_execution_manager::TrajectoryExecutionManagerPtr& trajectory_execution);
00057   ~PlanWithSensing();
00058 
00059   const trajectory_execution_manager::TrajectoryExecutionManagerPtr& getTrajectoryExecutionManager() const
00060   {
00061     return trajectory_execution_manager_;
00062   }
00063 
00064   bool computePlan(ExecutableMotionPlan& plan, const ExecutableMotionPlanComputationFn& motion_planner,
00065                    unsigned int max_look_attempts, double max_safe_path_cost);
00066 
00067   double getMaxSafePathCost() const
00068   {
00069     return default_max_safe_path_cost_;
00070   }
00071 
00072   void setMaxSafePathCost(double max_safe_path_cost)
00073   {
00074     default_max_safe_path_cost_ = max_safe_path_cost;
00075   }
00076 
00077   void setMaxLookAttempts(unsigned int attempts)
00078   {
00079     default_max_look_attempts_ = attempts;
00080   }
00081 
00082   unsigned int getMaxLookAttempts() const
00083   {
00084     return default_max_look_attempts_;
00085   }
00086 
00087   unsigned int getMaxCostSources() const
00088   {
00089     return max_cost_sources_;
00090   }
00091 
00092   void setMaxCostSources(unsigned int value)
00093   {
00094     max_cost_sources_ = value;
00095   }
00096 
00097   double getDiscardOverlappingCostSources() const
00098   {
00099     return discard_overlapping_cost_sources_;
00100   }
00101 
00102   void setDiscardOverlappingCostSources(double value)
00103   {
00104     discard_overlapping_cost_sources_ = value;
00105   }
00106 
00107   void setBeforeLookCallback(const boost::function<void()>& callback)
00108   {
00109     before_look_callback_ = callback;
00110   }
00111 
00112   void displayCostSources(bool flag);
00113 
00114 private:
00115   bool lookAt(const std::set<collision_detection::CostSource>& cost_sources, const std::string& frame_id);
00116 
00117   ros::NodeHandle node_handle_;
00118   trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
00119 
00120   boost::scoped_ptr<pluginlib::ClassLoader<moveit_sensor_manager::MoveItSensorManager> > sensor_manager_loader_;
00121   moveit_sensor_manager::MoveItSensorManagerPtr sensor_manager_;
00122   unsigned int default_max_look_attempts_;
00123   double default_max_safe_path_cost_;
00124 
00125   double discard_overlapping_cost_sources_;
00126   unsigned int max_cost_sources_;
00127 
00128   bool display_cost_sources_;
00129   ros::Publisher cost_sources_publisher_;
00130 
00131   boost::function<void()> before_look_callback_;
00132 
00133   class DynamicReconfigureImpl;
00134   DynamicReconfigureImpl* reconfigure_impl_;
00135 };
00136 }
00137 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Fri Dec 14 2018 03:32:30