ompl_ros_task_space_planner.h
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00034 
00037 #ifndef OMPL_ROS_TASK_SPACE_PLANNER_H_
00038 #define OMPL_ROS_TASK_SPACE_PLANNER_H_
00039 
00040 // OMPL ROS Interface
00041 #include <ompl_ros_interface/ompl_ros_planning_group.h>
00042 #include <ompl_ros_interface/ik/ompl_ros_ik_sampler.h>
00043 #include <ompl_ros_interface/state_validity_checkers/ompl_ros_task_space_validity_checker.h>
00044 
00045 #include <ompl/base/goals/GoalStates.h>
00046 
00047 namespace ompl_ros_interface
00048 {
00053   class OmplRosTaskSpacePlanner: public OmplRosPlanningGroup
00054   {
00055   public:
00056     
00057     OmplRosTaskSpacePlanner(){}
00058     ~OmplRosTaskSpacePlanner(){}
00059 
00060   protected:
00061 
00065     virtual bool isRequestValid(arm_navigation_msgs::GetMotionPlan::Request &request,
00066                                 arm_navigation_msgs::GetMotionPlan::Response &response);
00067 
00071      virtual bool setStart(arm_navigation_msgs::GetMotionPlan::Request &request,
00072                           arm_navigation_msgs::GetMotionPlan::Response &response);
00073 
00077     virtual bool setGoal(arm_navigation_msgs::GetMotionPlan::Request &request,
00078                          arm_navigation_msgs::GetMotionPlan::Response &response);
00079 
00083     virtual bool initializeStateValidityChecker(ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker);
00084 
00088     virtual bool initializePlanningStateSpace(ompl::base::StateSpacePtr &state_space);
00089 
00097     bool getSpaceFromParamServer(const ros::NodeHandle &node_handle,
00098                                     const std::string &space_name,
00099                                     ompl::base::StateSpacePtr& state_space,
00100                                     int& real_vector_index);
00101 
00102   protected:
00103 
00104     std::string planning_frame_id_;
00105 
00106     std::string end_effector_name_;
00110     virtual arm_navigation_msgs::RobotTrajectory getSolutionPath() = 0;
00111 
00112     boost::shared_ptr<ompl_ros_interface::OmplRosStateTransformer> state_transformer_;
00113 
00114     virtual bool constraintsToOmplState(const arm_navigation_msgs::Constraints &constraints, 
00115                                         ompl::base::ScopedState<ompl::base::CompoundStateSpace> &goal);
00116 
00117   };
00118 }
00119 #endif //OMPL_ROS_TASK_SPACE_PLANNER_H_


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:58