ompl_interface.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/ompl_interface/planning_context_manager.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit_msgs/msg/motion_plan_request.hpp>
#include <moveit_msgs/msg/motion_plan_response.hpp>
#include <rclcpp/node.hpp>
#include <string>
#include <map>
 
namespace ompl_interface
{
class OMPLInterface
{
public:
  OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model, const rclcpp::Node::SharedPtr& node,
                const std::string& parameter_namespace);
 
  OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model,
                const planning_interface::PlannerConfigurationMap& pconfig, const rclcpp::Node::SharedPtr& node,
                const std::string& parameter_namespace);
 
  virtual ~OMPLInterface();
 
  void setPlannerConfigurations(const planning_interface::PlannerConfigurationMap& pconfig);
 
  const planning_interface::PlannerConfigurationMap& getPlannerConfigurations() const
  {
    return context_manager_.getPlannerConfigurations();
  }
 
  ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                  const planning_interface::MotionPlanRequest& req) const;
  ModelBasedPlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                  const planning_interface::MotionPlanRequest& req,
                                                  moveit_msgs::msg::MoveItErrorCodes& error_code) const;
 
  const PlanningContextManager& getPlanningContextManager() const
  {
    return context_manager_;
  }
 
  PlanningContextManager& getPlanningContextManager()
  {
    return context_manager_;
  }
 
  constraint_samplers::ConstraintSamplerManager& getConstraintSamplerManager()
  {
    return *constraint_sampler_manager_;
  }
 
  const constraint_samplers::ConstraintSamplerManager& getConstraintSamplerManager() const
  {
    return *constraint_sampler_manager_;
  }
 
  void useConstraintsApproximations(bool flag)
  {
    use_constraints_approximations_ = flag;
  }
 
  bool isUsingConstraintsApproximations() const
  {
    return use_constraints_approximations_;
  }
 
  void printStatus();
 
protected:
  bool loadPlannerConfiguration(const std::string& group_name, const std::string& planner_id,
                                const std::map<std::string, std::string>& group_params,
                                planning_interface::PlannerConfigurationSettings& planner_config);
 
  void loadPlannerConfigurations();
 
  void loadConstraintSamplers();
 
  ModelBasedPlanningContextPtr prepareForSolve(const planning_interface::MotionPlanRequest& req,
                                               const planning_scene::PlanningSceneConstPtr& planning_scene,
                                               moveit_msgs::msg::MoveItErrorCodes* error_code, unsigned int* attempts,
                                               double* timeout) const;
 
  rclcpp::Node::SharedPtr node_;  
  const std::string parameter_namespace_;
 
  moveit::core::RobotModelConstPtr robot_model_;
 
  constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
 
  PlanningContextManager context_manager_;
 
  bool use_constraints_approximations_;
 
private:
  constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr constraint_sampler_manager_loader_;
};
}  // namespace ompl_interface