planning_request_adapter.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_scene/planning_scene.h>
#include <functional>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
 
namespace planning_request_adapter
{
MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapterPtr, ConstPtr, WeakPtr... etc
 
class PlanningRequestAdapter
{
public:
  using PlannerFn =
      std::function<bool(const planning_scene::PlanningSceneConstPtr&, const planning_interface::MotionPlanRequest&,
                         planning_interface::MotionPlanResponse&)>;
 
  PlanningRequestAdapter()
  {
  }
 
  virtual ~PlanningRequestAdapter()
  {
  }
 
  virtual void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) = 0;
 
  virtual std::string getDescription() const
  {
    return "";
  }
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;
 
  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest& req,
                            planning_interface::MotionPlanResponse& res,
                            std::vector<std::size_t>& added_path_index) const = 0;
 
protected:
  template <typename T>
  T getParam(const rclcpp::Node::SharedPtr& node, const rclcpp::Logger& logger, const std::string& parameter_namespace,
             const std::string& parameter_name, T default_value = {}) const
  {
    std::string full_name = parameter_namespace.empty() ? parameter_name : parameter_namespace + "." + parameter_name;
    T value;
    if (!node->get_parameter(full_name, value))
    {
      RCLCPP_INFO(logger, "Param '%s' was not set. Using default value: %s", full_name.c_str(),
                  std::to_string(default_value).c_str());
      return default_value;
    }
    else
    {
      RCLCPP_INFO(logger, "Param '%s' was set to %s", full_name.c_str(), std::to_string(value).c_str());
      return value;
    }
  }
};
 
class PlanningRequestAdapterChain
{
public:
  PlanningRequestAdapterChain()
  {
  }
 
  void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
  {
    adapters_.push_back(adapter);
  }
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const;
 
  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                    const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const;
 
private:
  std::vector<PlanningRequestAdapterConstPtr> adapters_;
};
}  // namespace planning_request_adapter