chomp_planner_node.h

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#ifndef CHOMP_PLANNER_NODE_H_
#define CHOMP_PLANNER_NODE_H_

#include <ros/ros.h>

#include <motion_planning_msgs/GetMotionPlan.h>
#include <motion_planning_msgs/convert_messages.h>

#include <motion_planning_msgs/FilterJointTrajectoryWithConstraints.h>

#include <chomp_motion_planner/chomp_robot_model.h>
#include <chomp_motion_planner/chomp_parameters.h>
#include <chomp_motion_planner/chomp_collision_space.h>
#include <planning_environment/monitors/collision_space_monitor.h>
#include <map>
#include <string>
#include <filters/filter_chain.h>

namespace chomp
{

class ChompPlannerNode
{
public:
  ChompPlannerNode(ros::NodeHandle node_handle);

  virtual ~ChompPlannerNode();

  bool init();

  int run();

  bool planKinematicPath(motion_planning_msgs::GetMotionPlan::Request &req, motion_planning_msgs::GetMotionPlan::Response &res);

  bool filterJointTrajectory(motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request &req, motion_planning_msgs::FilterJointTrajectoryWithConstraints::Response &res);
  
private:
  ros::NodeHandle node_handle_, root_handle_;                         
  ros::ServiceServer plan_kinematic_path_service_;      
  ros::ServiceServer filter_joint_trajectory_service_;      
  planning_environment::CollisionModels* collision_models_;
  planning_environment::CollisionSpaceMonitor *monitor_;
  tf::TransformListener tf_;
  std::string reference_frame_;

  ChompRobotModel chomp_robot_model_;                   
  ChompParameters chomp_parameters_;                    
  ChompCollisionSpace chomp_collision_space_;           
  double trajectory_duration_;                          
  double trajectory_discretization_;                    
  ros::Publisher vis_marker_array_publisher_;           
  ros::Publisher vis_marker_publisher_;                 
  std::map<std::string, double> joint_velocity_limits_; 
  bool use_trajectory_filter_;
  int maximum_spline_points_;
  int minimum_spline_points_;

  std::map<std::string, motion_planning_msgs::JointLimits> joint_limits_;
  void getLimits(const trajectory_msgs::JointTrajectory& trajectory, 
                 std::vector<motion_planning_msgs::JointLimits>& limits_out);

  //filters::FilterChain<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request> filter_constraints_chain_;
  ros::ServiceClient filter_trajectory_client_;

};

}

#endif /* CHOMP_PLANNER_NODE_H_ */

---

chomp_motion_planner
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Jan 11 09:52:40 2013