ompl_interface.h

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/* Author: Ioan Sucan, Sachin Chitta */

#ifndef MOVEIT_OMPL_INTERFACE_OMPL_INTERFACE_
#define MOVEIT_OMPL_INTERFACE_OMPL_INTERFACE_

#include <moveit/ompl_interface/planning_context_manager.h>
#include <moveit/ompl_interface/constraints_library.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit_msgs/MotionPlanResponse.h>
#include <string>
#include <map>
#include <ros/ros.h>

namespace ompl_interface
{

class OMPLInterface
{
public:

  OMPLInterface(const robot_model::RobotModelConstPtr &kmodel, const ros::NodeHandle &nh = ros::NodeHandle("~"));

  OMPLInterface(const robot_model::RobotModelConstPtr &kmodel, const planning_interface::PlannerConfigurationMap &pconfig, const ros::NodeHandle &nh = ros::NodeHandle("~"));

  virtual ~OMPLInterface();

  void setPlannerConfigurations(const planning_interface::PlannerConfigurationMap &pconfig);

  const planning_interface::PlannerConfigurationMap& getPlannerConfigurations() const
  {
    return context_manager_.getPlannerConfigurations();
  }

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const;

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanDetailedResponse &res) const;

  ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                  const planning_interface::MotionPlanRequest &req) const;
  ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                  const planning_interface::MotionPlanRequest &req,
                                                  moveit_msgs::MoveItErrorCodes &error_code) const;

  ModelBasedPlanningContextPtr getPlanningContext(const std::string &config, const std::string &factory_type = "") const;

  ModelBasedPlanningContextPtr getLastPlanningContext() const
  {
    return context_manager_.getLastPlanningContext();
  }

  const PlanningContextManager& getPlanningContextManager() const
  {
    return context_manager_;
  }

  PlanningContextManager& getPlanningContextManager()
  {
    return context_manager_;
  }

  ConstraintsLibrary& getConstraintsLibrary()
  {
    return *constraints_library_;
  }

  const ConstraintsLibrary& getConstraintsLibrary() const
  {
    return *constraints_library_;
  }

  constraint_samplers::ConstraintSamplerManager& getConstraintSamplerManager()
  {
    return *constraint_sampler_manager_;
  }

  const constraint_samplers::ConstraintSamplerManager& getConstraintSamplerManager() const
  {
    return *constraint_sampler_manager_;
  }

  void useConstraintsApproximations(bool flag)
  {
    use_constraints_approximations_ = flag;
  }

  bool isUsingConstraintsApproximations() const
  {
    return use_constraints_approximations_;
  }

  void loadConstraintApproximations(const std::string &path);

  void saveConstraintApproximations(const std::string &path);

  bool simplifySolutions() const
  {
    return simplify_solutions_;
  }

  void simplifySolutions(bool flag)
  {
    simplify_solutions_ = true;
  }

  bool saveConstraintApproximations();

  bool loadConstraintApproximations();

  void printStatus();

protected:

  void loadPlannerConfigurations();

  void loadConstraintSamplers();

  void configureContext(const ModelBasedPlanningContextPtr &context) const;

  ModelBasedPlanningContextPtr prepareForSolve(const planning_interface::MotionPlanRequest &req,
                                               const planning_scene::PlanningSceneConstPtr& planning_scene,
                                               moveit_msgs::MoveItErrorCodes *error_code,
                                               unsigned int *attempts, double *timeout) const;


  ros::NodeHandle nh_; 

  robot_model::RobotModelConstPtr kmodel_;

  constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;

  PlanningContextManager context_manager_;

  ConstraintsLibraryPtr constraints_library_;
  bool use_constraints_approximations_;

  bool simplify_solutions_;

private:

  constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_;

};

}


#endif