ompl_ros.h
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00034 
00037 #ifndef OMPL_ROS_H_
00038 #define OMPL_ROS_H_
00039 
00040 // ROS
00041 #include <ros/console.h>
00042 #include <ros/ros.h>
00043 
00044 // Planning environment and models
00045 #include <planning_environment/models/collision_models_interface.h>
00046 
00047 // OMPL ROS Interface
00048 #include <ompl_ros_interface/planners/ompl_ros_rpy_ik_task_space_planner.h>
00049 #include <ompl_ros_interface/planners/ompl_ros_joint_planner.h>
00050 #include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
00051 
00052 // Diagnostics Message
00053 #include <ompl_ros_interface/OmplPlannerDiagnostics.h>
00054 
00055 namespace ompl_ros_interface
00056 {
00061 class OmplRos
00062 {
00063 public:
00064 
00065   OmplRos();
00066   ~OmplRos();
00067 
00071   void run(void);
00072 
00076   boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup>& getPlanner(const std::string &group_name, 
00077                                                                           const std::string &planner_config_name);
00078 
00079 private:
00080 
00085   bool computePlan(arm_navigation_msgs::GetMotionPlan::Request &request,
00086                    arm_navigation_msgs::GetMotionPlan::Response &response);
00087 
00091   bool getGroupNamesFromParamServer(const std::string &param_server_prefix,
00092                                     std::vector<std::string> &group_names);
00093   
00094   bool initialize(const std::string &param_server_prefix);
00095   
00096   bool initializePlanningMap(const std::string &param_server_prefix,
00097                              const std::vector<std::string> &group_names);
00098   
00099   bool initializePlanningInstance(const std::string &param_server_prefix,
00100                                   const std::string &group_name,
00101                                   const std::string &planner_config_name);    
00105   std::map<std::string,boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup> > planner_map_;
00106 
00107   // ROS interface 
00108   boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup> empty_ptr;
00109   ros::ServiceServer                     plan_path_service_;
00110   planning_environment::CollisionModelsInterface *collision_models_interface_;
00111   ros::NodeHandle                        node_handle_;
00112   std::string default_planner_config_;
00113   bool publish_diagnostics_;
00114   ros::Publisher diagnostic_publisher_;
00115 
00116 };
00117 }
00118 
00119 #endif //OMPL_ROS_H_


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:38:54