planning_context_manager.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_PLANNING_CONTEXT_MANAGER_
#define MOVEIT_OMPL_INTERFACE_PLANNING_CONTEXT_MANAGER_

#include <moveit/ompl_interface/model_based_planning_context.h>
#include <moveit/ompl_interface/parameterization/model_based_state_space_factory.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.h>

#include <boost/shared_ptr.hpp>
#include <vector>
#include <string>
#include <map>

namespace ompl_interface
{

class PlanningContextManager
{
public:

  PlanningContextManager(const robot_model::RobotModelConstPtr &kmodel, const constraint_samplers::ConstraintSamplerManagerPtr &csm);
  ~PlanningContextManager();

  void setPlannerConfigurations(const planning_interface::PlannerConfigurationMap &pconfig);

  const planning_interface::PlannerConfigurationMap& getPlannerConfigurations() const
  {
    return planner_configs_;
  }

  /* \brief Get the maximum number of sampling attempts allowed when sampling states is needed */
  unsigned int getMaximumStateSamplingAttempts() const
  {
    return max_state_sampling_attempts_;
  }

  /* \brief Set the maximum number of sampling attempts allowed when sampling states is needed */
  void setMaximumStateSamplingAttempts(unsigned int max_state_sampling_attempts)
  {
    max_state_sampling_attempts_ = max_state_sampling_attempts;
  }

  /* \brief Get the maximum number of sampling attempts allowed when sampling goals is needed */
  unsigned int getMaximumGoalSamplingAttempts() const
  {
    return max_goal_sampling_attempts_;
  }

  /* \brief Set the maximum number of sampling attempts allowed when sampling goals is needed */
  void setMaximumGoalSamplingAttempts(unsigned int max_goal_sampling_attempts)
  {
    max_goal_sampling_attempts_ = max_goal_sampling_attempts;
  }

  /* \brief Get the maximum number of goal samples */
  unsigned int getMaximumGoalSamples() const
  {
    return max_goal_samples_;
  }

  /* \brief Set the maximum number of goal samples */
  void setMaximumGoalSamples(unsigned int max_goal_samples)
  {
    max_goal_samples_ = max_goal_samples;
  }

  /* \brief Get the maximum number of planning threads allowed */
  unsigned int getMaximumPlanningThreads() const
  {
    return max_planning_threads_;
  }

  /* \brief Set the maximum number of planning threads */
  void setMaximumPlanningThreads(unsigned int max_planning_threads)
  {
    max_planning_threads_ = max_planning_threads;
  }

  /* \brief Get the maximum solution segment length */
  double getMaximumSolutionSegmentLength() const
  {
    return max_solution_segment_length_;
  }

  /* \brief Set the maximum solution segment length */
  void setMaximumSolutionSegmentLength(double mssl)
  {
    max_solution_segment_length_ = mssl;
  }

  unsigned int getMinimumWaypointCount() const
  {
    return minimum_waypoint_count_;
  }

  void setMinimumWaypointCount(unsigned int mwc)
  {
    minimum_waypoint_count_ = mwc;
  }

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return kmodel_;
  }

  ModelBasedPlanningContextPtr getLastPlanningContext() const;

  ModelBasedPlanningContextPtr getPlanningContext(const std::string &config, const std::string &factory_type = "") const;

  ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr &planning_scene,
                                                  const planning_interface::MotionPlanRequest &req,
                                                  moveit_msgs::MoveItErrorCodes &error_code) const;

  void registerPlannerAllocator(const std::string &planner_id, const ConfiguredPlannerAllocator &pa)
  {
    known_planners_[planner_id] = pa;
  }

  void registerStateSpaceFactory(const ModelBasedStateSpaceFactoryPtr &factory)
  {
    state_space_factories_[factory->getType()] = factory;
  }

  const std::map<std::string, ConfiguredPlannerAllocator>& getRegisteredPlannerAllocators() const
  {
    return known_planners_;
  }

  const std::map<std::string, ModelBasedStateSpaceFactoryPtr>& getRegisteredStateSpaceFactories() const
  {
    return state_space_factories_;
  }

  ConfiguredPlannerSelector getPlannerSelector() const;

protected:

  typedef boost::function<const ModelBasedStateSpaceFactoryPtr&(const std::string&)> StateSpaceFactoryTypeSelector;

  ConfiguredPlannerAllocator plannerSelector(const std::string &planner) const;

  void registerDefaultPlanners();
  void registerDefaultStateSpaces();

  ModelBasedPlanningContextPtr getPlanningContext(const planning_interface::PlannerConfigurationSettings &config, const StateSpaceFactoryTypeSelector &factory_selector, const moveit_msgs::MotionPlanRequest &req) const;

  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory1(const std::string &group_name, const std::string &factory_type) const;
  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory2(const std::string &group_name, const moveit_msgs::MotionPlanRequest &req) const;

  robot_model::RobotModelConstPtr                       kmodel_;

  constraint_samplers::ConstraintSamplerManagerPtr      constraint_sampler_manager_;

  std::map<std::string, ConfiguredPlannerAllocator>     known_planners_;
  std::map<std::string, ModelBasedStateSpaceFactoryPtr> state_space_factories_;

  planning_interface::PlannerConfigurationMap           planner_configs_;

  unsigned int                                          max_goal_samples_;

  unsigned int                                          max_state_sampling_attempts_;

  unsigned int                                          max_goal_sampling_attempts_;

  unsigned int                                          max_planning_threads_;

  double                                                max_solution_segment_length_;

  unsigned int                                          minimum_waypoint_count_;

private:

  class LastPlanningContext;
  boost::shared_ptr<LastPlanningContext>                last_planning_context_;

  struct CachedContexts;
  boost::shared_ptr<CachedContexts>                     cached_contexts_;
};

}


#endif