ompl_ros_planning_group.h
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00034 
00037 #ifndef OMPL_ROS_PLANNING_GROUP_H_
00038 #define OMPL_ROS_PLANNING_GROUP_H_
00039 
00040 // ROS
00041 #include <ros/ros.h>
00042 #include <ros/console.h>
00043 
00044 // ROS msgs
00045 #include <arm_navigation_msgs/ArmNavigationErrorCodes.h>
00046 #include <arm_navigation_msgs/RobotTrajectory.h>
00047 
00048 // Planning environment and models
00049 #include <planning_environment/models/collision_models_interface.h>
00050 #include <planning_models/kinematic_model.h>
00051 #include <planning_models/kinematic_state.h>
00052 
00053 // OMPL ROS Interface
00054 #include <ompl_ros_interface/ompl_ros_state_validity_checker.h>
00055 #include <ompl_ros_interface/ompl_ros_projection_evaluator.h>
00056 #include <ompl_ros_interface/ompl_ros_planner_config.h>
00057 #include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
00058 
00059 // OMPL
00060 #include <ompl/geometric/SimpleSetup.h>
00061 #include <ompl/geometric/planners/rrt/RRT.h>
00062 #include <ompl/geometric/planners/rrt/RRTConnect.h>
00063 #include <ompl/geometric/planners/rrt/pRRT.h>
00064 #include <ompl/geometric/planners/rrt/LazyRRT.h>
00065 #include <ompl/geometric/planners/est/EST.h>
00066 #include <ompl/geometric/planners/sbl/SBL.h>
00067 #include <ompl/geometric/planners/sbl/pSBL.h>
00068 #include <ompl/geometric/planners/kpiece/KPIECE1.h>
00069 #include <ompl/geometric/planners/kpiece/BKPIECE1.h>
00070 #include <ompl/geometric/planners/kpiece/LBKPIECE1.h>
00071 #include <ompl/geometric/planners/rrt/RRTstar.h>
00072 
00073 namespace ompl_ros_interface
00074 {
00079   class OmplRosPlanningGroup
00080   {
00081   public:
00082     
00083     OmplRosPlanningGroup(){}
00084     
00092     bool initialize(const ros::NodeHandle &node_handle,
00093                     const std::string &group_name,
00094                     const std::string &planner_config_name,
00095                     planning_environment::CollisionModelsInterface *cmi);
00096         
00097     /*
00098       @brief Return the name of the group this planner is operating on
00099      */
00100     std::string getName()
00101     {
00102       return group_name_;
00103     };
00104 
00105     /*
00106       @brief Return the planning frame id
00107      */
00108     std::string getFrameId()
00109     {
00110       return collision_models_interface_->getWorldFrameId();
00111     }
00112 
00113     /*
00114       @brief Compute the plan
00115       @param The motion planning request
00116       @param The motion planner response
00117      */
00118     bool computePlan(arm_navigation_msgs::GetMotionPlan::Request &request, 
00119                      arm_navigation_msgs::GetMotionPlan::Response &response);
00120 
00124     boost::shared_ptr<ompl::geometric::SimpleSetup> planner_;
00125 
00126   protected:
00127 
00128     /*
00129       @brief Check whether the request is valid. This function must be implemented by every derived class.
00130       @param The motion planning request
00131       @param The motion planner response
00132      */
00133     virtual bool isRequestValid(arm_navigation_msgs::GetMotionPlan::Request &request,
00134                                 arm_navigation_msgs::GetMotionPlan::Response &response) = 0;
00135 
00136     /*
00137       @brief Set the start. This function must be implemented by every derived class.
00138       @param The motion planning request
00139       @param The motion planner response
00140      */
00141     virtual bool setStart(arm_navigation_msgs::GetMotionPlan::Request &request,
00142                           arm_navigation_msgs::GetMotionPlan::Response &response) = 0;
00143 
00144     /*
00145       @brief Set the start. This function must be implemented by every derived class.
00146       @param The motion planning request
00147       @param The motion planner response
00148      */
00149     virtual bool setGoal(arm_navigation_msgs::GetMotionPlan::Request &request,
00150                          arm_navigation_msgs::GetMotionPlan::Response &response) = 0;
00151 
00155      virtual bool initializeStateValidityChecker(ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker) =0;
00156 
00160     virtual bool initializePlanningStateSpace(ompl::base::StateSpacePtr &state_space) = 0;
00161 
00162     std::string group_name_;
00163 
00164     planning_environment::CollisionModelsInterface* collision_models_interface_;
00165 
00166     ompl::base::StateSpacePtr state_space_;
00167 
00172     const planning_models::KinematicModel::JointModelGroup* physical_joint_group_;
00173 
00177     planning_models::KinematicState::JointStateGroup* physical_joint_state_group_;
00178      
00182     ompl_ros_interface::OmplRosStateValidityCheckerPtr state_validity_checker_;
00183 
00187     virtual arm_navigation_msgs::RobotTrajectory getSolutionPath() = 0;
00188 
00189   protected:
00190     ros::NodeHandle node_handle_;
00191     bool omplPathGeometricToRobotTrajectory(const ompl::geometric::PathGeometric &path, 
00192                                             arm_navigation_msgs::RobotTrajectory &robot_trajectory);
00193     bool finish(const bool &result);
00194 
00195   private:
00196 
00197     std::string planner_config_name_;
00198     boost::shared_ptr<ompl_ros_interface::PlannerConfig> planner_config_;    
00199         
00200     // The kinematic state
00201     boost::scoped_ptr<planning_models::KinematicState> kinematic_state_;
00202 
00203     ompl::base::PlannerPtr ompl_planner_;
00204 
00205     bool initializeProjectionEvaluator();
00206 
00207     bool initializePhysicalGroup();
00208 
00209     bool initializePlanner();
00210     bool initializeESTPlanner();
00211     bool initializeSBLPlanner();
00212     bool initializeRRTPlanner();
00213     bool initializepRRTPlanner();
00214     bool initializepSBLPlanner();
00215     bool initializeKPIECEPlanner();
00216     bool initializeLazyRRTPlanner();
00217     bool initializeLBKPIECEPlanner();
00218     bool initializeRRTConnectPlanner();
00219     bool initializeRRTStarPlanner();
00220     bool initializeBKPIECEPlanner();
00221 
00222 
00223     bool configureStateValidityChecker(arm_navigation_msgs::GetMotionPlan::Request &request,
00224                                        arm_navigation_msgs::GetMotionPlan::Response &response,
00225                                        planning_models::KinematicState *kinematic_state);
00226 
00227     bool transformConstraints(arm_navigation_msgs::GetMotionPlan::Request &request,
00228                               arm_navigation_msgs::GetMotionPlan::Response &response);
00229 
00230     bool setStartAndGoalStates(arm_navigation_msgs::GetMotionPlan::Request &request, 
00231                                arm_navigation_msgs::GetMotionPlan::Response &response);
00232 
00233     
00234   };
00235 }
00236 #endif //OMPL_ROS_PLANNING_GROUP_H_


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