planning_scene_interface.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_

#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/PlanningScene.h>

namespace moveit
{
namespace planning_interface
{
MOVEIT_CLASS_FORWARD(PlanningSceneInterface);

class PlanningSceneInterface
{
public:
  PlanningSceneInterface();
  ~PlanningSceneInterface();

  std::vector<std::string> getKnownObjectNames(bool with_type = false);

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                    double maxz, bool with_type, std::vector<std::string>& types);

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                    double maxz, bool with_type = false)
  {
    std::vector<std::string> empty_vector_string;
    return getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type, empty_vector_string);
  };

  std::map<std::string, geometry_msgs::Pose> getObjectPoses(const std::vector<std::string>& object_ids);

  std::map<std::string, moveit_msgs::CollisionObject>
  getObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());

  std::map<std::string, moveit_msgs::AttachedCollisionObject>
  getAttachedObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());

  bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_objects);

  bool applyCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects);

  bool applyAttachedCollisionObject(const moveit_msgs::AttachedCollisionObject& attached_collision_objects);

  bool
  applyAttachedCollisionObjects(const std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objects);

  bool applyPlanningScene(const moveit_msgs::PlanningScene& ps);

  void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects) const;

  void removeCollisionObjects(const std::vector<std::string>& object_ids) const;

private:
  class PlanningSceneInterfaceImpl;
  PlanningSceneInterfaceImpl* impl_;
};
}
}

#endif