planning_pipeline_interfaces.hpp

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/* Author: Sebastian Jahr
   Desc: Functions to create and use a map of PlanningPipelines to solve MotionPlanRequests */
 
#pragma once
 
#include <moveit/planning_pipeline_interfaces/plan_responses_container.hpp>
#include <moveit/planning_interface/planning_response.h>
#include <moveit/planning_interface/planning_request.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/planning_scene/planning_scene.h>
 
namespace moveit
{
namespace planning_pipeline_interfaces
{
typedef std::function<bool(const PlanResponsesContainer& plan_responses_container,
                           const std::vector<::planning_interface::MotionPlanRequest>& plan_requests)>
    StoppingCriterionFunction;
 
typedef std::function<::planning_interface::MotionPlanResponse(
    const std::vector<::planning_interface::MotionPlanResponse>& solutions)>
    SolutionSelectionFunction;
 
::planning_interface::MotionPlanResponse planWithSinglePipeline(
    const ::planning_interface::MotionPlanRequest& motion_plan_request,
    const ::planning_scene::PlanningSceneConstPtr& planning_scene,
    const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>& planning_pipelines);
 
const std::vector<::planning_interface::MotionPlanResponse> planWithParallelPipelines(
    const std::vector<::planning_interface::MotionPlanRequest>& motion_plan_requests,
    const ::planning_scene::PlanningSceneConstPtr& planning_scene,
    const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>& planning_pipelines,
    const StoppingCriterionFunction& stopping_criterion_callback = nullptr,
    const SolutionSelectionFunction& solution_selection_function = nullptr);
 
std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>
createPlanningPipelineMap(const std::vector<std::string>& pipeline_names,
                          const moveit::core::RobotModelConstPtr& robot_model, const rclcpp::Node::SharedPtr& node,
                          const std::string& parameter_namespace = std::string());
}  // namespace planning_pipeline_interfaces
}  // namespace moveit