planning_interface: planning_scene_interface.h Source File

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
00038 #define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/robot_state/robot_state.h>
00042 #include <moveit_msgs/CollisionObject.h>
00043 #include <moveit_msgs/AttachedCollisionObject.h>
00044 #include <moveit_msgs/PlanningScene.h>
00045 
00046 namespace moveit
00047 {
00048 namespace planning_interface
00049 {
00050 MOVEIT_CLASS_FORWARD(PlanningSceneInterface);
00051 
00052 class PlanningSceneInterface
00053 {
00054 public:
00055   PlanningSceneInterface();
00056   ~PlanningSceneInterface();
00057 
00065   std::vector<std::string> getKnownObjectNames(bool with_type = false);
00066 
00070   std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
00071                                                     double maxz, bool with_type, std::vector<std::string>& types);
00072 
00076   std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
00077                                                     double maxz, bool with_type = false)
00078   {
00079     std::vector<std::string> empty_vector_string;
00080     return getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type, empty_vector_string);
00081   };
00082 
00084   std::map<std::string, geometry_msgs::Pose> getObjectPoses(const std::vector<std::string>& object_ids);
00085 
00088   std::map<std::string, moveit_msgs::CollisionObject>
00089   getObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());
00090 
00093   std::map<std::string, moveit_msgs::AttachedCollisionObject>
00094   getAttachedObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());
00095 
00098   bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_objects);
00099 
00102   bool applyCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects);
00103 
00106   bool applyAttachedCollisionObject(const moveit_msgs::AttachedCollisionObject& attached_collision_objects);
00107 
00110   bool
00111   applyAttachedCollisionObjects(const std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objects);
00112 
00115   bool applyPlanningScene(const moveit_msgs::PlanningScene& ps);
00116 
00122   void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects) const;
00123 
00128   void removeCollisionObjects(const std::vector<std::string>& object_ids) const;
00129 
00132 private:
00133   class PlanningSceneInterfaceImpl;
00134   PlanningSceneInterfaceImpl* impl_;
00135 };
00136 }
00137 }
00138 
00139 #endif