Program Listing for File move_group_capability.h
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/* Author: Ioan Sucan */
#pragma once
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/plan_execution/plan_representation.h>
#include <moveit/move_group/move_group_context.h>
namespace move_group
{
enum MoveGroupState
{
IDLE,
PLANNING,
MONITOR,
LOOK
};
MOVEIT_CLASS_FORWARD(MoveGroupCapability); // Defines MoveGroupCapabilityPtr, ConstPtr, WeakPtr... etc
class MoveGroupCapability
{
public:
explicit MoveGroupCapability(const std::string& capability_name) : capability_name_(capability_name)
{
}
virtual ~MoveGroupCapability()
{
}
void setContext(const MoveGroupContextPtr& context);
virtual void initialize() = 0;
const std::string& getName() const
{
return capability_name_;
}
protected:
std::string getActionResultString(const moveit_msgs::msg::MoveItErrorCodes& error_code, bool planned_trajectory_empty,
bool plan_only);
std::string stateToStr(MoveGroupState state) const;
void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
moveit_msgs::msg::RobotState& first_state_msg,
std::vector<moveit_msgs::msg::RobotTrajectory>& trajectory_msg) const;
void convertToMsg(const robot_trajectory::RobotTrajectoryPtr& trajectory,
moveit_msgs::msg::RobotState& first_state_msg,
moveit_msgs::msg::RobotTrajectory& trajectory_msg) const;
void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
moveit_msgs::msg::RobotState& first_state_msg,
moveit_msgs::msg::RobotTrajectory& trajectory_msg) const;
planning_interface::MotionPlanRequest
clearRequestStartState(const planning_interface::MotionPlanRequest& request) const;
moveit_msgs::msg::PlanningScene clearSceneRobotState(const moveit_msgs::msg::PlanningScene& scene) const;
bool performTransform(geometry_msgs::msg::PoseStamped& pose_msg, const std::string& target_frame) const;
planning_pipeline::PlanningPipelinePtr resolvePlanningPipeline(const std::string& pipeline_id) const;
std::string capability_name_;
MoveGroupContextPtr context_;
};
} // namespace move_group