planning_request_adapter.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_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00038 #define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/planning_interface/planning_interface.h>
00042 #include <moveit/planning_scene/planning_scene.h>
00043 #include <boost/function.hpp>
00044 
00046 namespace planning_request_adapter
00047 {
00048 MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);
00049 
00050 class PlanningRequestAdapter
00051 {
00052 public:
00053   typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
00054                                const planning_interface::MotionPlanRequest& req,
00055                                planning_interface::MotionPlanResponse& res)>
00056       PlannerFn;
00057 
00058   PlanningRequestAdapter()
00059   {
00060   }
00061 
00062   virtual ~PlanningRequestAdapter()
00063   {
00064   }
00065 
00067   virtual std::string getDescription() const
00068   {
00069     return "";
00070   }
00071 
00072   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00073                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00074                     const planning_interface::MotionPlanRequest& req,
00075                     planning_interface::MotionPlanResponse& res) const;
00076 
00077   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00078                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00079                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
00080                     std::vector<std::size_t>& added_path_index) const;
00081 
00087   virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
00088                             const planning_interface::MotionPlanRequest& req,
00089                             planning_interface::MotionPlanResponse& res,
00090                             std::vector<std::size_t>& added_path_index) const = 0;
00091 };
00092 
00094 class PlanningRequestAdapterChain
00095 {
00096 public:
00097   PlanningRequestAdapterChain()
00098   {
00099   }
00100 
00101   void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
00102   {
00103     adapters_.push_back(adapter);
00104   }
00105 
00106   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00107                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00108                     const planning_interface::MotionPlanRequest& req,
00109                     planning_interface::MotionPlanResponse& res) const;
00110 
00111   bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
00112                     const planning_scene::PlanningSceneConstPtr& planning_scene,
00113                     const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
00114                     std::vector<std::size_t>& added_path_index) const;
00115 
00116 private:
00117   std::vector<PlanningRequestAdapterConstPtr> adapters_;
00118 };
00119 }
00120 
00121 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Jul 24 2017 02:20:44