planning_scene_interface.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/msg/object_color.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_msgs/msg/attached_collision_object.hpp>
#include <moveit_msgs/msg/planning_scene.hpp>
 
namespace moveit
{
namespace planning_interface
{
MOVEIT_CLASS_FORWARD(PlanningSceneInterface);  // Defines PlanningSceneInterfacePtr, ConstPtr, WeakPtr... etc
 
class PlanningSceneInterface
{
public:
  explicit PlanningSceneInterface(const std::string& ns = "", bool wait = true);
  ~PlanningSceneInterface();
 
  std::vector<std::string> getKnownObjectNames(bool with_type = false);
 
  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                    double maxz, bool with_type, std::vector<std::string>& types);
 
  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
                                                    double maxz, bool with_type = false)
  {
    std::vector<std::string> empty_vector_string;
    return getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type, empty_vector_string);
  };
 
  std::map<std::string, geometry_msgs::msg::Pose> getObjectPoses(const std::vector<std::string>& object_ids);
 
  std::map<std::string, moveit_msgs::msg::CollisionObject>
  getObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());
 
  std::map<std::string, moveit_msgs::msg::AttachedCollisionObject>
  getAttachedObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());
 
  bool applyCollisionObject(const moveit_msgs::msg::CollisionObject& collision_object);
 
  bool applyCollisionObject(const moveit_msgs::msg::CollisionObject& collision_object,
                            const std_msgs::msg::ColorRGBA& object_color);
 
  bool applyCollisionObjects(
      const std::vector<moveit_msgs::msg::CollisionObject>& collision_objects,
      const std::vector<moveit_msgs::msg::ObjectColor>& object_colors = std::vector<moveit_msgs::msg::ObjectColor>());
 
  bool applyAttachedCollisionObject(const moveit_msgs::msg::AttachedCollisionObject& attached_collision_object);
 
  bool applyAttachedCollisionObjects(
      const std::vector<moveit_msgs::msg::AttachedCollisionObject>& attached_collision_objects);
 
  bool applyPlanningScene(const moveit_msgs::msg::PlanningScene& ps);
 
  void addCollisionObjects(const std::vector<moveit_msgs::msg::CollisionObject>& collision_objects,
                           const std::vector<moveit_msgs::msg::ObjectColor>& object_colors =
                               std::vector<moveit_msgs::msg::ObjectColor>()) const;
 
  void removeCollisionObjects(const std::vector<std::string>& object_ids) const;
 
private:
  class PlanningSceneInterfaceImpl;
  PlanningSceneInterfaceImpl* impl_;
};
}  // namespace planning_interface
}  // namespace moveit