planning_interface.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_INTERFACE_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_INTERFACE_

#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/planning_interface/planning_request.h>
#include <moveit/planning_interface/planning_response.h>
#include <string>
#include <map>

namespace planning_interface
{

struct PlannerConfigurationSettings
{
  std::string                        group;

  /* \brief Name of the configuration. If there is only one configuration, this should be the same as the group name.
     If there are multiple configurations, the form "group_name[config_name]" is expected for the name. */
  std::string                        name;

  std::map<std::string, std::string> config;
};

typedef std::map<std::string, PlannerConfigurationSettings> PlannerConfigurationMap;


class PlanningContext
{
public:

  PlanningContext(const std::string &name, const std::string &group);

  virtual ~PlanningContext();

  const std::string& getGroupName() const
  {
    return group_;
  }

  const std::string& getName() const
  {
    return name_;
  }

  const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
  {
    return planning_scene_;
  }

  const MotionPlanRequest& getMotionPlanRequest() const
  {
    return request_;
  }

  void setPlanningScene(const planning_scene::PlanningSceneConstPtr &planning_scene);

  void setMotionPlanRequest(const MotionPlanRequest &request);

  virtual bool solve(MotionPlanResponse &res) = 0;

  virtual bool solve(MotionPlanDetailedResponse &res) = 0;

  virtual bool terminate() = 0;

  virtual void clear() = 0;

protected:

  std::string name_;

  std::string group_;

  planning_scene::PlanningSceneConstPtr planning_scene_;

  MotionPlanRequest request_;
};

MOVEIT_CLASS_FORWARD(PlanningContext);

class PlannerManager
{
public:

  PlannerManager()
  {
  }

  virtual ~PlannerManager()
  {
  }

  virtual bool initialize(const robot_model::RobotModelConstPtr& model, const std::string &ns);

  virtual std::string getDescription() const;

  virtual void getPlanningAlgorithms(std::vector<std::string> &algs) const;

  virtual PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                const MotionPlanRequest &req,
                                                moveit_msgs::MoveItErrorCodes &error_code) const = 0;

  PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                        const MotionPlanRequest &req) const;

  virtual bool canServiceRequest(const MotionPlanRequest &req)  const = 0;

  virtual void setPlannerConfigurations(const PlannerConfigurationMap &pcs);

  const PlannerConfigurationMap& getPlannerConfigurations() const
  {
    return config_settings_;
  }

  void terminate() const;

protected:

  PlannerConfigurationMap config_settings_;
};

MOVEIT_CLASS_FORWARD(PlannerManager);

} // planning_interface

#endif