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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, 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.
*********************************************************************/
#include <ros/ros.h>
#include <planning_interface/planning_interface.h>
#include <planning_scene/planning_scene.h>
#include <planning_models/robot_model.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <sbpl_interface/sbpl_meta_interface.h>
#include <pluginlib/class_list_macros.hpp>
namespace sbpl_interface_ros
{
class SBPLMetaPlanner : public planning_interface::Planner
{
public:
void init(const planning_models::RobotModelConstPtr& model)
{
ros::NodeHandle nh;
// display_bfs_publisher_ = nh.advertise<visualization_msgs::Marker>("planning_components_visualization", 10, true);
sbpl_meta_interface_.reset(new sbpl_interface::SBPLMetaInterface(model));
}
bool canServiceRequest(const moveit_msgs::GetMotionPlan::Request& req,
planning_interface::PlannerCapability& capabilities) const
{
// TODO: this is a dummy implementation
// capabilities.dummy = false;
return true;
}
bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res) const
{
bool solve_ok = sbpl_meta_interface_->solve(planning_scene, req, res);
return solve_ok;
}
bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::MotionPlanDetailedResponse& res) const
{
moveit_msgs::GetMotionPlan::Response res2;
if (sbpl_meta_interface_->solve(planning_scene, req, res2))
{
res.trajectory_start = res2.trajectory_start;
res.trajectory.push_back(res2.trajectory);
res.description.push_back("plan");
res.processing_time.push_back(res2.planning_time);
return true;
}
else
return false;
}
std::string getDescription() const
{
return "SBPLMeta";
}
void getPlanningAlgorithms(std::vector<std::string>& algs) const
{
algs.resize(1);
algs[0] = "SBPLMeta";
}
void terminate() const
{
// TODO - make interruptible
}
private:
ros::Publisher display_bfs_publisher_;
boost::shared_ptr<sbpl_interface::SBPLMetaInterface> sbpl_meta_interface_;
};
} // ompl_interface_ros
PLUGINLIB_EXPORT_CLASS(sbpl_interface_ros::SBPLMetaPlanner, planning_interface::Planner);
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