00001 /* 00002 * PlaceSequenceValidator.h 00003 * 00004 * Created on: Oct 10, 2012 00005 */ 00006 00007 /* 00008 * Software License Agreement (BSD License) 00009 * 00010 * Copyright (c) 2011, Southwest Research Institute 00011 * All rights reserved. 00012 * 00013 * Redistribution and use in source and binary forms, with or without 00014 * modification, are permitted provided that the following conditions are met: 00015 * 00016 * * Redistributions of source code must retain the above copyright 00017 * notice, this list of conditions and the following disclaimer. 00018 * * Redistributions in binary form must reproduce the above copyright 00019 * notice, this list of conditions and the following disclaimer in the 00020 * documentation and/or other materials provided with the distribution. 00021 * * Neither the name of the Southwest Research Institute, nor the names 00022 * of its contributors may be used to endorse or promote products derived 00023 * from this software without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00028 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00029 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00030 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00031 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00032 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00033 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00034 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 */ 00037 00038 #ifndef PLACE_SEQUENCE_VALIDATOR_H_ 00039 #define PLACE_SEQUENCE_VALIDATOR_H_ 00040 00041 #include <object_manipulator/place_execution/place_tester_fast.h> 00042 #include <object_manipulator/place_execution/descend_retreat_place.h> 00043 #include <object_manipulator/tools/hand_description.h> 00044 #include <arm_kinematics_constraint_aware/arm_kinematics_solver_constraint_aware.h> 00045 #include <tf/transform_datatypes.h> 00046 00047 class PlaceSequenceValidator : public object_manipulator::PlaceTesterFast 00048 { 00049 public: 00050 PlaceSequenceValidator(); 00051 00052 PlaceSequenceValidator(planning_environment::CollisionModels* cm = NULL, 00053 const std::string& plugin_name="SIA20D_Mesh_manipulator_kinematics/IKFastKinematicsPlugin"); 00054 00055 virtual ~PlaceSequenceValidator(); 00056 00057 void setTcpToWristTransform(const tf::Transform &tcpTransform); // pose of the tcp relative to the wrist; 00058 00059 std::map<std::string,arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware*>& getIkSolverMap() 00060 { 00061 return ik_solver_map_; 00062 } 00063 00064 void testPlaces(const object_manipulation_msgs::PlaceGoal &place_goal, 00065 const std::vector<geometry_msgs::PoseStamped> &place_locations, 00066 std::vector<object_manipulator::PlaceExecutionInfo> &execution_info, 00067 bool return_on_first_hit); 00068 00069 00070 protected: 00071 00072 tf::Transform _TcpToWristTransform; 00073 }; 00074 00075 #endif /* PLACE_SEQUENCE_VALIDATOR_H_ */