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, Sachin Chitta */ 00036 00037 #ifndef MOVEIT_PICK_PLACE_REACHABLE_VALID_POSE_FILTER_ 00038 #define MOVEIT_PICK_PLACE_REACHABLE_VALID_POSE_FILTER_ 00039 00040 #include <moveit/pick_place/manipulation_stage.h> 00041 #include <moveit/constraint_samplers/constraint_sampler_manager.h> 00042 #include <moveit/planning_scene/planning_scene.h> 00043 00044 namespace pick_place 00045 { 00046 class ReachableAndValidPoseFilter : public ManipulationStage 00047 { 00048 public: 00049 ReachableAndValidPoseFilter(const planning_scene::PlanningSceneConstPtr& scene, 00050 const collision_detection::AllowedCollisionMatrixConstPtr& collision_matrix, 00051 const constraint_samplers::ConstraintSamplerManagerPtr& constraints_sampler_manager); 00052 00053 virtual bool evaluate(const ManipulationPlanPtr& plan) const; 00054 00055 private: 00056 bool isEndEffectorFree(const ManipulationPlanPtr& plan, robot_state::RobotState& token_state) const; 00057 00058 planning_scene::PlanningSceneConstPtr planning_scene_; 00059 collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_; 00060 constraint_samplers::ConstraintSamplerManagerPtr constraints_sampler_manager_; 00061 }; 00062 } 00063 00064 #endif