display_solution.h

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/* Author: Robert Haschke */
 
#pragma once
 
#include <moveit_task_constructor_msgs/Solution.h>
#include <moveit/macros/class_forward.h>
 
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState);
}
}  // namespace moveit
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene);
}
namespace robot_trajectory {
MOVEIT_CLASS_FORWARD(RobotTrajectory);
}
namespace Ogre {
class SceneNode;
}
namespace rviz {
class DisplayContext;
}
 
namespace moveit_rviz_plugin {
 
MOVEIT_CLASS_FORWARD(DisplaySolution);
MOVEIT_CLASS_FORWARD(MarkerVisualization);
 
class DisplaySolution
{
        size_t steps_;
        planning_scene::PlanningSceneConstPtr start_scene_;
 
        struct Data
        {
                planning_scene::PlanningSceneConstPtr scene_;
                robot_trajectory::RobotTrajectoryPtr trajectory_;
                std::vector<std::string> joints_;
                std::string comment_;
                uint32_t creator_id_;
                MarkerVisualizationPtr markers_;
        };
        std::vector<Data> data_;
 
public:
        DisplaySolution() = default;
        DisplaySolution(const DisplaySolution& master, uint32_t sub);
 
        size_t numSubSolutions() const { return data_.size(); }
 
        size_t getWayPointCount() const { return steps_; }
        bool empty() const { return steps_ == 0; }
 
        using IndexPair = std::pair<size_t, size_t>;
        IndexPair indexPair(size_t index) const;
 
        float getWayPointDurationFromPrevious(const IndexPair& idx_pair) const;
        float getWayPointDurationFromPrevious(size_t index) const {
                if (index >= steps_)
                        return 0.1;  // display time of last waypoint before switching to final scene
                return getWayPointDurationFromPrevious(indexPair(index));
        }
        const moveit::core::RobotStatePtr& getWayPointPtr(const IndexPair& idx_pair) const;
        const moveit::core::RobotStatePtr& getWayPointPtr(size_t index) const { return getWayPointPtr(indexPair(index)); }
        const planning_scene::PlanningSceneConstPtr& startScene() const { return start_scene_; }
        const planning_scene::PlanningSceneConstPtr& scene(const IndexPair& idx_pair) const;
        const planning_scene::PlanningSceneConstPtr& scene(size_t index) const {
                if (index >= steps_)
                        return data_.back().scene_;
                return scene(indexPair(index));
        }
        const std::string& comment(const IndexPair& idx_pair) const;
        const std::string& comment(size_t index) const { return comment(indexPair(index)); }
        uint32_t creatorId(const IndexPair& idx_pair) const;
 
        const MarkerVisualizationPtr markers(const IndexPair& idx_pair) const;
        const MarkerVisualizationPtr markers(size_t index) const { return markers(indexPair(index)); }
        const MarkerVisualizationPtr markersOfSubTrajectory(size_t index) const { return data_.at(index).markers_; }
 
        void setFromMessage(const planning_scene::PlanningScenePtr& start_scene,
                            const moveit_task_constructor_msgs::Solution& msg);
        void fillMessage(moveit_task_constructor_msgs::Solution& msg) const;
};
}  // namespace moveit_rviz_plugin