continualPlanning.h
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00001 #ifndef CONTINUAL_PLANNING_H
00002 #define CONTINUAL_PLANNING_H
00003 
00004 #include <vector>
00005 #include <ros/ros.h>
00006 #include "continual_planning_executive/symbolicState.h"
00007 #include "continual_planning_executive/stateCreator.h"
00008 #include "continual_planning_executive/goalCreator.h"
00009 #include "continual_planning_executive/plannerInterface.h"
00010 #include "continual_planning_executive/statusPublisher.h"
00011 #include "planExecutor.h"
00012 
00013 // constantly do the following:
00014 // estimate current state
00015 // check that curState + curPlan will lead to goal
00016 // if not:
00017 //    replan
00018 // executros
00019 //  check/keep running actions
00020 //  preempt if conflicting? planner always assumes no running actions?
00021 //  should never decide: oops s.th. changed lets redo everything
00022 //  -- make monitoring nice/safe
00023 //
00024 //  Plan monitoring does not work, if move_base/make_plan fails during movement
00025 //  also: Execution failures should trigger replan somehow: i.e. drive to gap -> fail -> replan
00026 //  probably need partial/subgoal plan then to get away and make new situation
00027 //
00028 // check contiplan paper
00029 
00030 
00032 class ContinualPlanning
00033 {
00034     public:
00035         friend bool loadStateCreators(ros::NodeHandle & nh);
00036         friend bool loadGoalCreators(ros::NodeHandle & nh);
00037         friend bool loadActionExecutors(ros::NodeHandle & nh);
00038         friend bool loadPlanner(ros::NodeHandle & nh);
00039         friend void signal_handler(int);
00040 
00041         enum ContinualPlanningState {
00042             Running,
00043             FinishedNoPlanToGoal,
00044             FinishedAtGoal
00045         };
00046 
00047         enum ReplanningTriggerMethod {
00048             ReplanAlways,
00049             ReplanIfLogicalStateChanged,
00050             ReplanByMonitoring
00051         };
00052 
00053         ContinualPlanning();
00054         ~ContinualPlanning();
00055 
00057 
00060         ContinualPlanningState loop();
00061 
00063         bool estimateCurrentState();
00064 
00066         bool isGoalFulfilled() const;
00067 
00068 
00070         bool executeActionDirectly(const DurativeAction & a, bool publishStatus);
00071 
00073         void forceReplanning() { _forceReplan = true; }
00074 
00075     protected:
00077 
00084         Plan monitorAndReplan(bool & atGoal);
00085 
00087 
00090         bool needReplanning(bool & atGoal) const;
00091 
00092     protected:
00093         std::vector<continual_planning_executive::StateCreator*> _stateCreators;
00094         continual_planning_executive::PlannerInterface* _planner;
00095         PlanExecutor _planExecutor;
00096 
00097         SymbolicState _currentState;
00098         SymbolicState _goal;
00099         Plan _currentPlan;
00100 
00101         bool _forceReplan;      
00102         ReplanningTriggerMethod _replanningTrigger;
00103 
00104         bool _allowDirectGoalCheck;     
00105 
00106         StatusPublisher _status;
00107 };
00108 
00109 #endif
00110 
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continual_planning_executive
Author(s): Christian Dornhege
autogenerated on Tue Jan 22 2013 12:24:43