move_group_capability.h

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/* 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);  // Defines MoveGroupCapabilityPtr, ConstPtr, WeakPtr... etc
 
class MoveGroupCapability
{
public:
  MoveGroupCapability(const std::string& capability_name) : 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::msg::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::msg::RobotState& first_state_msg,
                    std::vector<moveit_msgs::msg::RobotTrajectory>& trajectory_msg) const;
  void convertToMsg(const robot_trajectory::RobotTrajectoryPtr& trajectory,
                    moveit_msgs::msg::RobotState& first_state_msg,
                    moveit_msgs::msg::RobotTrajectory& trajectory_msg) const;
  void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
                    moveit_msgs::msg::RobotState& first_state_msg,
                    moveit_msgs::msg::RobotTrajectory& trajectory_msg) const;
 
  planning_interface::MotionPlanRequest
  clearRequestStartState(const planning_interface::MotionPlanRequest& request) const;
  moveit_msgs::msg::PlanningScene clearSceneRobotState(const moveit_msgs::msg::PlanningScene& scene) const;
  bool performTransform(geometry_msgs::msg::PoseStamped& pose_msg, const std::string& target_frame) const;
 
  planning_pipeline::PlanningPipelinePtr resolvePlanningPipeline(const std::string& pipeline_id) const;
 
  std::string capability_name_;
  MoveGroupContextPtr context_;
};
}  // namespace move_group