PlaceSequenceValidator.h
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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_ */


object_manipulation_tools
Author(s): Jnicho
autogenerated on Mon Oct 6 2014 00:56:17