resolve_constraint_frames.cpp

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/* Author: Robert Haschke */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <moveit/kinematic_constraints/utils.h>
#include <class_loader/class_loader.hpp>
 
namespace default_planner_request_adapters
{
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.resolve_constraint_frames");
 
class ResolveConstraintFrames : public planning_request_adapter::PlanningRequestAdapter
{
public:
  ResolveConstraintFrames() : planning_request_adapter::PlanningRequestAdapter()
  {
  }
 
  void initialize(const rclcpp::Node::SharedPtr& /* node */, const std::string& /* parameter_namespace */) override
  {
  }
 
  std::string getDescription() const override
  {
    return "Resolve constraint frames to robot links";
  }
 
  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 override
  {
    RCLCPP_DEBUG(LOGGER, "Running '%s'", getDescription().c_str());
    planning_interface::MotionPlanRequest modified = req;
    kinematic_constraints::resolveConstraintFrames(planning_scene->getCurrentState(), modified.path_constraints);
    for (moveit_msgs::msg::Constraints& constraint : modified.goal_constraints)
      kinematic_constraints::resolveConstraintFrames(planning_scene->getCurrentState(), constraint);
    return planner(planning_scene, modified, res);
  }
};
 
}  // namespace default_planner_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::ResolveConstraintFrames,
                            planning_request_adapter::PlanningRequestAdapter);