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planning_scene_monitor.h
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planning_scene_monitor.h
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2022, Peter David Fagan
* 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 PickNik Inc. 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: Peter David Fagan */
#pragma once
#include <pybind11/pybind11.h>
#include <moveit_py/moveit_py_utils/copy_ros_msg.h>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.h>
#include <rclcpp/rclcpp.hpp>
#include <moveit_msgs/msg/planning_scene.hpp>
#include <moveit_msgs/srv/apply_planning_scene.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
namespace py = pybind11;
namespace moveit_py
{
namespace bind_planning_scene_monitor
{
class LockedPlanningSceneContextManagerRW
{
public:
const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
std::unique_ptr<const planning_scene_monitor::LockedPlanningSceneRW> ls_rw_;
LockedPlanningSceneContextManagerRW(const planning_scene_monitor::PlanningSceneMonitorPtr& psm)
: planning_scene_monitor_(psm)
{
ls_rw_ = std::make_unique<const planning_scene_monitor::LockedPlanningSceneRW>(planning_scene_monitor_);
}
const planning_scene::PlanningScenePtr& lockedPlanningSceneRwEnter();
void lockedPlanningSceneRwExit(const py::object& type, const py::object& value, const py::object& traceback);
};
class LockedPlanningSceneContextManagerRO
{
public:
const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
std::unique_ptr<const planning_scene_monitor::LockedPlanningSceneRO> ls_ro_;
LockedPlanningSceneContextManagerRO(const planning_scene_monitor::PlanningSceneMonitorPtr& psm)
: planning_scene_monitor_(psm)
{
ls_ro_ = std::make_unique<const planning_scene_monitor::LockedPlanningSceneRO>(planning_scene_monitor_);
}
const planning_scene::PlanningSceneConstPtr& lockedPlanningSceneRoEnter() const;
void lockedPlanningSceneRoExit(const py::object& type, const py::object& value, const py::object& traceback);
};
LockedPlanningSceneContextManagerRW
readWrite(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
LockedPlanningSceneContextManagerRO
readOnly(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
void initPlanningSceneMonitor(py::module& m);
void initContextManagers(py::module& m);
} // namespace bind_planning_scene_monitor
} // namespace moveit_py