ompl_ros_task_space_validity_checker.h
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00034 
00037 #ifndef OMPL_ROS_TASK_SPACE_VALIDITY_CHECKER_
00038 #define OMPL_ROS_TASK_SPACE_VALIDITY_CHECKER_
00039 
00040 #include <ompl_ros_interface/ompl_ros_state_validity_checker.h>
00041 #include <ompl_ros_interface/ompl_ros_state_transformer.h>
00042 
00043 namespace ompl_ros_interface
00044 {
00049 class OmplRosTaskSpaceValidityChecker : public ompl_ros_interface::OmplRosStateValidityChecker
00050 {
00051 public:
00058   OmplRosTaskSpaceValidityChecker(ompl::base::SpaceInformation *si, 
00059                                   planning_environment::CollisionModelsInterface *cmi,
00060                                   const std::string &parent_frame):
00061     ompl_ros_interface::OmplRosStateValidityChecker(si,cmi),parent_frame_(parent_frame)
00062   {
00063   }
00064   ~OmplRosTaskSpaceValidityChecker(){}
00065         
00070   virtual bool  isValid  (const ompl::base::State *ompl_state) const;   
00071 
00072   /*
00073     @brief A non-const version of isValid designed to fill in the last error code 
00074     @param ompl_state The state that needs to be checked
00075    */
00076   virtual bool isStateValid(const ompl::base::State *ompl_state);
00077 
00083   bool setStateTransformer(boost::shared_ptr<ompl_ros_interface::OmplRosStateTransformer> &state_transformer);
00084         
00089   boost::shared_ptr<ompl_ros_interface::OmplRosStateTransformer>& getStateTransformer()
00090   {
00091     return state_transformer_;
00092   };
00093 
00101   virtual void configureOnRequest(planning_models::KinematicState *kinematic_state,
00102                                   planning_models::KinematicState::JointStateGroup *joint_state_group,
00103                                   const arm_navigation_msgs::GetMotionPlan::Request &request);
00104 
00105 protected:      
00106 
00107   arm_navigation_msgs::RobotState robot_state_msg_;
00108   std::string parent_frame_;
00109   virtual bool initialize();
00110   boost::shared_ptr<ompl_ros_interface::OmplRosStateTransformer> state_transformer_;
00111   ompl_ros_interface::RobotStateToKinematicStateMapping robot_state_to_joint_state_group_mapping_;
00112 };
00113 }
00114 #endif


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