plan_representation.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <functional>
 
namespace plan_execution
{
struct ExecutableMotionPlan;
 
struct ExecutableTrajectory
{
  ExecutableTrajectory() : trajectory_monitoring_(true)
  {
  }
 
  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description,
                       std::vector<std::string> controller_names = {})
    : trajectory_(trajectory)
    , description_(description)
    , trajectory_monitoring_(true)
    , controller_names_(std::move(controller_names))
  {
  }
 
  robot_trajectory::RobotTrajectoryPtr trajectory_;
  std::string description_;
  bool trajectory_monitoring_;
  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
  std::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
  std::vector<std::string> controller_names_;
};
 
struct ExecutableMotionPlan
{
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  planning_scene::PlanningSceneConstPtr planning_scene_;
 
  std::vector<ExecutableTrajectory> plan_components_;
 
  robot_trajectory::RobotTrajectoryPtr executed_trajectory_;
 
  moveit_msgs::msg::MoveItErrorCodes error_code_;
 
  planning_scene::PlanningScenePtr copyPlanningScene()
  {
    // planning_scene_ is based on the scene from this monitor
    // (either it's the monitored scene or a diff on top of it)
    // so in order to copy the scene, we must also lock the underlying monitor
    planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor_);
    return planning_scene::PlanningScene::clone(planning_scene_);
  }
};
 
using ExecutableMotionPlanComputationFn = std::function<bool(ExecutableMotionPlan&)>;
}  // namespace plan_execution