ompl_ros_state_validity_checker.h
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00034 
00037 #ifndef OMPL_ROS_STATE_VALIDITY_CHECKER_
00038 #define OMPL_ROS_STATE_VALIDITY_CHECKER_
00039 
00040 #include <planning_environment/models/collision_models_interface.h>
00041 #include <planning_environment/util/kinematic_state_constraint_evaluator.h>
00042 #include <arm_navigation_msgs/GetMotionPlan.h>
00043 
00044 #include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
00045 
00046 #include <ompl/base/StateValidityChecker.h>
00047 #include <ompl/base/State.h>
00048 
00049 
00050 namespace ompl_ros_interface
00051 {
00056 class OmplRosStateValidityChecker : public ompl::base::StateValidityChecker
00057 {
00058 public:
00064   OmplRosStateValidityChecker(ompl::base::SpaceInformation *si, 
00065                               planning_environment::CollisionModelsInterface *cmi) :
00066     ompl::base::StateValidityChecker(si), 
00067     collision_models_interface_(cmi)
00068   {
00069   }
00070   
00072   virtual bool  isValid  (const ompl::base::State *ompl_state) const = 0;       
00073 
00075   void printSettings(std::ostream &out) const;
00076 
00077   /*
00078     @brief Configure the state validity checker on request - this sets the current kinematic state, a pointer to the
00079     physical joint state group that this planner is planning for and passes in the request
00080     @param kinematic_state A pointer to the kinematic state containing joint values for the entire robot
00081     @param physical_joint_state_group A pointer to the joint state for the group that this planner is planning for
00082     @param request The motion planning request
00083    */
00084   virtual void configureOnRequest(planning_models::KinematicState *kinematic_state,
00085                                   planning_models::KinematicState::JointStateGroup *physical_joint_state_group,
00086                                   const arm_navigation_msgs::GetMotionPlan::Request &request);
00087 
00088   /*
00089     @brief Return the error code for the last state checked. 
00090     @return The error code for the last state that was checked.
00091    */
00092   arm_navigation_msgs::ArmNavigationErrorCodes getLastErrorCode()
00093   {
00094     return error_code_;
00095   }
00096 
00097   /*
00098     @brief A non-const version of isValid designed to fill in the last error code 
00099     @param ompl_state The state that needs to be checked
00100    */
00101   virtual bool isStateValid(const ompl::base::State *ompl_state) = 0;
00102 
00103 protected:      
00104   planning_models::KinematicState::JointStateGroup *joint_state_group_;
00105   planning_environment::CollisionModelsInterface* collision_models_interface_;
00106   planning_models::KinematicState *kinematic_state_;
00107     
00108   planning_environment::KinematicConstraintEvaluatorSet path_constraint_evaluator_set_;
00109   planning_environment::KinematicConstraintEvaluatorSet goal_constraint_evaluator_set_;
00110   arm_navigation_msgs::ArmNavigationErrorCodes error_code_;
00111   sensor_msgs::JointState joint_state_;
00112   arm_navigation_msgs::Constraints getPhysicalConstraints(const arm_navigation_msgs::Constraints &constraints);
00113 };
00114 
00115 typedef boost::shared_ptr<ompl_ros_interface::OmplRosStateValidityChecker> OmplRosStateValidityCheckerPtr;
00116 
00117 }
00118 
00119 #endif
00120     


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