plan_representation.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/robot_trajectory/robot_trajectory.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <functional>
 
namespace plan_execution
{
struct ExecutableMotionPlan;
 
struct ExecutableTrajectory
{
  ExecutableTrajectory() : trajectory_monitoring(true)
  {
  }
  ExecutableTrajectory() : trajectory_monitoring(true) {…}
 
  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description,
                       std::vector<std::string> controller_names = {})
    : trajectory(trajectory)
    , description(description)
    , trajectory_monitoring(true)
    , controller_name(std::move(controller_names))
  {
  }
  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description, {…}
 
  robot_trajectory::RobotTrajectoryPtr trajectory;
  std::string description;
  bool trajectory_monitoring;
  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix;
  std::function<bool(const ExecutableMotionPlan*)> effect_on_success;
  std::vector<std::string> controller_name;
};
struct ExecutableTrajectory {…};
 
struct ExecutableMotionPlan
{
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor;
  planning_scene::PlanningSceneConstPtr planning_scene;
 
  std::vector<ExecutableTrajectory> plan_components;
 
  robot_trajectory::RobotTrajectoryPtr executed_trajectory;
 
  moveit_msgs::msg::MoveItErrorCodes error_code;
 
  planning_scene::PlanningScenePtr copyPlanningScene()
  {
    // planning_scene_ is based on the scene from this monitor
    // (either it's the monitored scene or a diff on top of it)
    // so in order to copy the scene, we must also lock the underlying monitor
    planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor);
    return planning_scene::PlanningScene::clone(planning_scene);
  }
  planning_scene::PlanningScenePtr copyPlanningScene() {…}
};
struct ExecutableMotionPlan {…};
 
using ExecutableMotionPlanComputationFn = std::function<bool(ExecutableMotionPlan&)>;
}  // namespace plan_execution