00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef OMPL_ROS_STATE_TRANSFORMER_H_ 00038 #define OMPL_ROS_STATE_TRANSFORMER_H_ 00039 00040 #include <ros/ros.h> 00041 #include <ros/console.h> 00042 00043 #include <ompl/base/StateSpace.h> 00044 #include <ompl/base/ScopedState.h> 00045 #include <ompl/base/State.h> 00046 00047 #include <arm_navigation_msgs/convert_messages.h> 00048 #include <arm_navigation_msgs/GetMotionPlan.h> 00049 00050 #include <planning_models/kinematic_model.h> 00051 #include <planning_models/kinematic_state.h> 00052 00053 namespace ompl_ros_interface 00054 { 00058 class OmplRosStateTransformer 00059 { 00060 public: 00067 OmplRosStateTransformer(const ompl::base::StateSpacePtr &state_space, 00068 const planning_models::KinematicModel::JointModelGroup *physical_joint_model_group) 00069 { 00070 state_space_ = state_space; 00071 physical_joint_model_group_ = physical_joint_model_group; 00072 } 00073 00077 ~OmplRosStateTransformer(){} 00078 00082 virtual bool initialize() = 0; 00083 00090 virtual bool configureOnRequest(const arm_navigation_msgs::GetMotionPlan::Request &request, 00091 arm_navigation_msgs::GetMotionPlan::Response &response) = 0; 00092 00098 virtual bool inverseTransform(const ompl::base::State &ompl_state, 00099 arm_navigation_msgs::RobotState &robot_state) = 0; 00100 00106 virtual bool forwardTransform(const arm_navigation_msgs::RobotState &robot_state, 00107 ompl::base::State &ompl_state) = 0; 00108 00112 virtual std::string getFrame(){ return std::string(" ");}; 00113 00117 virtual arm_navigation_msgs::RobotState getDefaultState() = 0; 00118 00119 protected: 00120 ompl::base::StateSpacePtr state_space_; 00121 const planning_models::KinematicModel::JointModelGroup* physical_joint_model_group_; 00122 }; 00123 00124 } 00125 00126 #endif //OMPL_ROS_STATE_TRANSFORMER_H_