local_constraint_solver_interface.h

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/* Author: Sebastian Jahr
   Description: Defines an interface for a local constraint solver plugin implementation for the local planner component node.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
 
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_state/robot_state.h>
 
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit_msgs/msg/constraints.hpp>
 
#include <moveit_msgs/action/local_planner.hpp>
 
#include <trajectory_msgs/msg/joint_trajectory.hpp>
 
namespace moveit::hybrid_planning
{
class LocalConstraintSolverInterface
{
public:
  LocalConstraintSolverInterface() = default;
  LocalConstraintSolverInterface(const LocalConstraintSolverInterface&) = default;
  LocalConstraintSolverInterface(LocalConstraintSolverInterface&&) = default;
  LocalConstraintSolverInterface& operator=(const LocalConstraintSolverInterface&) = default;
  LocalConstraintSolverInterface& operator=(LocalConstraintSolverInterface&&) = default;
  virtual ~LocalConstraintSolverInterface() = default;
  virtual bool initialize(const rclcpp::Node::SharedPtr& node,
                          const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                          const std::string& group_name) = 0;
 
  virtual moveit_msgs::action::LocalPlanner::Feedback
  solve(const robot_trajectory::RobotTrajectory& local_trajectory,
        const std::shared_ptr<const moveit_msgs::action::LocalPlanner::Goal> local_goal,
        trajectory_msgs::msg::JointTrajectory& local_solution) = 0;
 
  virtual bool reset() = 0;
};
}  // namespace moveit::hybrid_planning