pilz_industrial_motion_planner.h

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <pilz_industrial_motion_planner/planning_context_loader.h>
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_interface.h>
 
#include <pluginlib/class_loader.hpp>
#include <memory>
 
#include <cartesian_limits_parameters.hpp>
 
namespace pilz_industrial_motion_planner
{
class CommandPlanner : public planning_interface::PlannerManager
{
public:
  ~CommandPlanner() override
  {
  }
 
  bool initialize(const moveit::core::RobotModelConstPtr& model, const rclcpp::Node::SharedPtr& node,
                  const std::string& ns) override;
 
  std::string getDescription() const override;
 
  void getPlanningAlgorithms(std::vector<std::string>& algs) const override;
 
  planning_interface::PlanningContextPtr
  getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const planning_interface::MotionPlanRequest& req,
                     moveit_msgs::msg::MoveItErrorCodes& error_code) const override;
 
  bool canServiceRequest(const planning_interface::MotionPlanRequest& req) const override;
 
  void registerContextLoader(const pilz_industrial_motion_planner::PlanningContextLoaderPtr& planning_context_loader);
 
private:
  std::unique_ptr<pluginlib::ClassLoader<PlanningContextLoader>> planner_context_loader_;
 
  std::map<std::string, pilz_industrial_motion_planner::PlanningContextLoaderPtr> context_loader_map_;
 
  moveit::core::RobotModelConstPtr model_;
 
  std::string namespace_;
 
  pilz_industrial_motion_planner::JointLimitsContainer aggregated_limit_active_joints_;
 
  std::shared_ptr<cartesian_limits::ParamListener> param_listener_;
  cartesian_limits::Params params_;
};
 
MOVEIT_CLASS_FORWARD(CommandPlanner);
 
}  // namespace pilz_industrial_motion_planner