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/*********************************************************************
* 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 */
#pragma once
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/plan_execution/plan_representation.h>
#include <moveit/move_group/move_group_context.h>
namespace move_group
{
enum MoveGroupState
{
IDLE,
PLANNING,
MONITOR,
LOOK
};
MOVEIT_CLASS_FORWARD(MoveGroupCapability);
class MoveGroupCapability
{
public:
MoveGroupCapability(const std::string& capability_name) : node_handle_("~"), capability_name_(capability_name)
{
}
virtual ~MoveGroupCapability()
{
}
void setContext(const MoveGroupContextPtr& context);
virtual void initialize() = 0;
const std::string& getName() const
{
return capability_name_;
}
protected:
std::string getActionResultString(const moveit_msgs::MoveItErrorCodes& error_code, bool planned_trajectory_empty,
bool plan_only);
std::string stateToStr(MoveGroupState state) const;
void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
moveit_msgs::RobotState& first_state_msg,
std::vector<moveit_msgs::RobotTrajectory>& trajectory_msg) const;
void convertToMsg(const robot_trajectory::RobotTrajectoryPtr& trajectory, moveit_msgs::RobotState& first_state_msg,
moveit_msgs::RobotTrajectory& trajectory_msg) const;
void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
moveit_msgs::RobotState& first_state_msg, moveit_msgs::RobotTrajectory& trajectory_msg) const;
planning_interface::MotionPlanRequest
clearRequestStartState(const planning_interface::MotionPlanRequest& request) const;
moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene& scene) const;
bool performTransform(geometry_msgs::PoseStamped& pose_msg, const std::string& target_frame) const;
ros::NodeHandle root_node_handle_;
ros::NodeHandle node_handle_;
std::string capability_name_;
MoveGroupContextPtr context_;
};
}
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