move_group_context.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/move_group/move_group_context.h>
00038 
00039 #include <moveit/planning_pipeline/planning_pipeline.h>
00040 #include <moveit/plan_execution/plan_execution.h>
00041 #include <moveit/plan_execution/plan_with_sensing.h>
00042 
00043 move_group::MoveGroupContext::MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor,
00044                            bool allow_trajectory_execution, bool debug) :
00045   planning_scene_monitor_(planning_scene_monitor),
00046   allow_trajectory_execution_(allow_trajectory_execution),
00047   debug_(debug)
00048 {
00049   planning_pipeline_.reset(new planning_pipeline::PlanningPipeline(planning_scene_monitor_->getRobotModel()));
00050 
00051   if (allow_trajectory_execution_)
00052   {
00053     trajectory_execution_manager_.reset(new trajectory_execution_manager::TrajectoryExecutionManager(planning_scene_monitor_->getRobotModel()));
00054     plan_execution_.reset(new plan_execution::PlanExecution(planning_scene_monitor_, trajectory_execution_manager_));
00055     plan_with_sensing_.reset(new plan_execution::PlanWithSensing(trajectory_execution_manager_));
00056     if (debug)
00057       plan_with_sensing_->displayCostSources(true);
00058   }
00059 
00060   // configure the planning pipeline
00061   planning_pipeline_->displayComputedMotionPlans(true);
00062   planning_pipeline_->checkSolutionPaths(true);
00063 
00064   if (debug_)
00065     planning_pipeline_->publishReceivedRequests(true);
00066 }
00067 
00068 move_group::MoveGroupContext::~MoveGroupContext()
00069 {
00070   plan_with_sensing_.reset();
00071   plan_execution_.reset();
00072   trajectory_execution_manager_.reset();
00073   planning_pipeline_.reset();
00074   planning_scene_monitor_.reset();
00075 }
00076 
00077 bool move_group::MoveGroupContext::status() const
00078 {
00079   const planning_interface::PlannerManagerPtr &planner_interface = planning_pipeline_->getPlannerManager();
00080   if (planner_interface)
00081   {
00082     ROS_INFO_STREAM("MoveGroup context using planning plugin " << planning_pipeline_->getPlannerPluginName());
00083     ROS_INFO_STREAM("MoveGroup context initialization complete");
00084     return true;
00085   }
00086   else
00087   {
00088     ROS_WARN_STREAM("MoveGroup running was unable to load " << planning_pipeline_->getPlannerPluginName());
00089     return false;
00090   }
00091 }


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