robot_poses.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
#include <moveit_msgs/msg/display_robot_state.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
// Note: Does not derive from SuperSRDFStep because we always need to check the name AND the group name for each pose
class RobotPoses : public SRDFStep
{
public:
  std::string getName() const override
  {
    return "Robot Poses";
  }
 
  void onInit() override;
 
  bool isReady() const override
  {
    return hasGroups();
  }
 
  std::vector<std::string> getGroupNames() const
  {
    return srdf_config_->getGroupNames();
  }
 
  srdf::Model::GroupState* findPoseByName(const std::string& name, const std::string& group);
 
  std::vector<srdf::Model::GroupState>& getGroupStates()
  {
    return srdf_config_->getGroupStates();
  }
 
  moveit::core::RobotState& getState()
  {
    return srdf_config_->getPlanningScene()->getCurrentStateNonConst();
  }
 
  void publishState(const moveit::core::RobotState& robot_state);
 
  bool checkSelfCollision(const moveit::core::RobotState& robot_state);
 
  std::vector<const moveit::core::JointModel*> getSimpleJointModels(const std::string& group_name) const;
 
  void removePoseByName(const std::string& pose_name, const std::string& group_name)
  {
    srdf_config_->removePoseByName(pose_name, group_name);
  }
 
  void setToCurrentValues(srdf::Model::GroupState& group_state);
 
  void loadAllowedCollisionMatrix();
 
protected:
  rclcpp::Publisher<moveit_msgs::msg::DisplayRobotState>::SharedPtr pub_robot_state_;
 
  // ******************************************************************************************
  // Collision Variables
  // ******************************************************************************************
  collision_detection::CollisionRequest request_;
 
  collision_detection::AllowedCollisionMatrix allowed_collision_matrix_;
};
}  // namespace srdf_setup
}  // namespace moveit_setup