planning_request_adapter.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
#define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_

#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_scene/planning_scene.h>
#include <boost/function.hpp>

/** \brief Generic interface to adapting motion planning requests */
namespace planning_request_adapter
{
MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);

class PlanningRequestAdapter
{
public:
  typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
                               const planning_interface::MotionPlanRequest& req,
                               planning_interface::MotionPlanResponse& res)>
      PlannerFn;

  PlanningRequestAdapter()
  {
  }

  virtual ~PlanningRequestAdapter()
  {
  }

  /// Get a short string that identifies the planning request adapter
  virtual std::string getDescription() const
  {
    return "";
  }

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;

  /** \brief Adapt the planning request if needed, call the planner
      function \e planner and update the planning response if
      needed. If the response is changed, the index values of the
      states added without planning are added to \e
      added_path_index */
  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest& req,
                            planning_interface::MotionPlanResponse& res,
                            std::vector<std::size_t>& added_path_index) const = 0;
};

/// Apply a sequence of adapters to a motion plan
class PlanningRequestAdapterChain
{
public:
  PlanningRequestAdapterChain()
  {
  }

  void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
  {
    adapters_.push_back(adapter);
  }

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;

  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;

private:
  std::vector<PlanningRequestAdapterConstPtr> adapters_;
};
}

#endif