move_group_capability.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_CAPABILITY_
00039 
00040 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00041 #include <moveit/planning_interface/planning_interface.h>
00042 #include <moveit/plan_execution/plan_representation.h>
00043 #include <moveit/move_group/move_group_context.h>
00044 
00045 namespace move_group
00046 {
00047 
00048 enum MoveGroupState
00049   {
00050     IDLE,
00051     PLANNING,
00052     MONITOR,
00053     LOOK
00054   };
00055 
00056 class MoveGroupCapability
00057 {
00058 public:
00059 
00060   MoveGroupCapability(const std::string &capability_name) :
00061     node_handle_("~"),
00062     capability_name_(capability_name)
00063   {
00064   }
00065 
00066   virtual ~MoveGroupCapability()
00067   {
00068   }
00069 
00070   void setContext(const MoveGroupContextPtr &context);
00071 
00072   virtual void initialize() = 0;
00073 
00074   const std::string& getName() const
00075   {
00076     return capability_name_;
00077   }
00078 
00079 protected:
00080 
00081   std::string getActionResultString(const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only);
00082   std::string stateToStr(MoveGroupState state) const;
00083 
00084   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory> &trajectory,
00085                     moveit_msgs::RobotState &first_state_msg, std::vector<moveit_msgs::RobotTrajectory> &trajectory_msg) const;
00086   void convertToMsg(const robot_trajectory::RobotTrajectoryPtr &trajectory,
00087                     moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const;
00088   void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory> &trajectory,
00089                     moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const;
00090 
00091   planning_interface::MotionPlanRequest clearRequestStartState(const planning_interface::MotionPlanRequest &request) const;
00092   moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene &scene) const;
00093   bool performTransform(geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const;
00094 
00095   ros::NodeHandle root_node_handle_;
00096   ros::NodeHandle node_handle_;
00097   std::string capability_name_;
00098   MoveGroupContextPtr context_;
00099 };
00100 
00101 }
00102 
00103 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:43:56