planning_interface.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_request.h>
#include <moveit/planning_interface/planning_response.h>
#include <moveit/planning_scene/planning_scene.h>
#include <rclcpp/node.hpp>
#include <string>
#include <map>
#include <rclcpp/rclcpp.hpp>
 
namespace planning_interface
{
struct PlannerConfigurationSettings
{
  std::string group;
 
  /* \brief Name of the configuration.
 
     For a group's default configuration, this should be the same as the group name.
     Otherwise, the form "group_name[config_name]" is expected for the name. */
  std::string name;
 
  std::map<std::string, std::string> config;
};
 
typedef std::map<std::string, PlannerConfigurationSettings> PlannerConfigurationMap;
 
MOVEIT_CLASS_FORWARD(PlanningContext);  // Defines PlanningContextPtr, ConstPtr, WeakPtr... etc
 
class PlanningContext
{
public:
  PlanningContext(const std::string& name, const std::string& group);
 
  virtual ~PlanningContext();
 
  const std::string& getGroupName() const
  {
    return group_;
  }
 
  const std::string& getName() const
  {
    return name_;
  }
 
  const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
  {
    return planning_scene_;
  }
 
  const MotionPlanRequest& getMotionPlanRequest() const
  {
    return request_;
  }
 
  void setPlanningScene(const planning_scene::PlanningSceneConstPtr& planning_scene);
 
  void setMotionPlanRequest(const MotionPlanRequest& request);
 
  virtual void solve(MotionPlanResponse& res) = 0;
 
  virtual void solve(MotionPlanDetailedResponse& res) = 0;
 
  virtual bool terminate() = 0;
 
  virtual void clear() = 0;
 
protected:
  std::string name_;
 
  std::string group_;
 
  planning_scene::PlanningSceneConstPtr planning_scene_;
 
  MotionPlanRequest request_;
};
 
MOVEIT_CLASS_FORWARD(PlannerManager);  // Defines PlannerManagerPtr, ConstPtr, WeakPtr... etc
 
class PlannerManager
{
public:
  PlannerManager()
  {
  }
 
  virtual ~PlannerManager()
  {
  }
 
  virtual bool initialize(const moveit::core::RobotModelConstPtr& model, const rclcpp::Node::SharedPtr& node,
                          const std::string& parameter_namespace);
 
  virtual std::string getDescription() const = 0;
 
  virtual void getPlanningAlgorithms(std::vector<std::string>& algs) const;
 
  virtual PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                const MotionPlanRequest& req,
                                                moveit_msgs::msg::MoveItErrorCodes& error_code) const = 0;
 
  PlanningContextPtr getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                        const MotionPlanRequest& req) const;
 
  virtual bool canServiceRequest(const MotionPlanRequest& req) const = 0;
 
  virtual void setPlannerConfigurations(const PlannerConfigurationMap& pcs);
 
  const PlannerConfigurationMap& getPlannerConfigurations() const
  {
    return config_settings_;
  }
 
  void terminate() const;
 
protected:
  PlannerConfigurationMap config_settings_;
};
 
}  // namespace planning_interface