00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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_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