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 }