trajectory_operator_interface.h

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/* Author: Sebastian Jahr
   Description: Defines an interface for a trajectory operator plugin implementation for the local planner component node.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
 
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit_msgs/msg/constraints.hpp>
 
#include <moveit_msgs/action/local_planner.hpp>
 
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
 
namespace moveit::hybrid_planning
{
class TrajectoryOperatorInterface
{
public:
  TrajectoryOperatorInterface() = default;
  TrajectoryOperatorInterface(const TrajectoryOperatorInterface&) = default;
  TrajectoryOperatorInterface(TrajectoryOperatorInterface&&) = default;
  TrajectoryOperatorInterface& operator=(const TrajectoryOperatorInterface&) = default;
  TrajectoryOperatorInterface& operator=(TrajectoryOperatorInterface&&) = default;
  virtual ~TrajectoryOperatorInterface() = default;
  virtual bool initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModelConstPtr& robot_model,
                          const std::string& group_name) = 0;
 
  virtual moveit_msgs::action::LocalPlanner::Feedback
  addTrajectorySegment(const robot_trajectory::RobotTrajectory& new_trajectory) = 0;
 
  virtual moveit_msgs::action::LocalPlanner::Feedback
  getLocalTrajectory(const moveit::core::RobotState& current_state,
                     robot_trajectory::RobotTrajectory& local_trajectory) = 0;
 
  virtual double getTrajectoryProgress(const moveit::core::RobotState& current_state) = 0;
 
  virtual bool reset() = 0;
 
protected:
  // Reference trajectory to be precessed
  robot_trajectory::RobotTrajectoryPtr reference_trajectory_;
  std::string group_;
};
}  // namespace moveit::hybrid_planning