move_group_context.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, 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 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 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_CONTEXT_
00038 #define MOVEIT_MOVE_GROUP_CONTEXT_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 
00042 namespace planning_scene_monitor
00043 {
00044 MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);
00045 }
00046 
00047 namespace planning_pipeline
00048 {
00049 MOVEIT_CLASS_FORWARD(PlanningPipeline);
00050 }
00051 
00052 namespace plan_execution
00053 {
00054 MOVEIT_CLASS_FORWARD(PlanExecution);
00055 MOVEIT_CLASS_FORWARD(PlanWithSensing);
00056 }
00057 
00058 namespace trajectory_execution_manager
00059 {
00060 MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);
00061 }
00062 
00063 namespace move_group
00064 {
00065 
00066 struct MoveGroupContext
00067 {
00068   MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor,
00069            bool allow_trajectory_execution = false,
00070            bool debug = false);
00071   ~MoveGroupContext();
00072 
00073   bool status() const;
00074 
00075   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
00076   trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
00077   planning_pipeline::PlanningPipelinePtr planning_pipeline_;
00078   plan_execution::PlanExecutionPtr plan_execution_;
00079   plan_execution::PlanWithSensingPtr plan_with_sensing_;
00080   bool allow_trajectory_execution_;
00081   bool debug_;
00082 };
00083 
00084 typedef boost::shared_ptr<MoveGroupContext> MoveGroupContextPtr;
00085 
00086 }
00087 
00088 #endif


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