state_validation_service_capability.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.hpp>
#include <moveit_msgs/srv/get_state_validity.hpp>
 
namespace move_group
{
class MoveGroupStateValidationService : public MoveGroupCapability
{
public:
  MoveGroupStateValidationService();
 
  void initialize() override;
 
protected:
  bool isStateValid(const planning_scene_monitor::LockedPlanningSceneRO& ls, const moveit::core::RobotState& rs,
                    const std::string& group_name, const moveit_msgs::msg::Constraints& constraints,
                    std::vector<moveit_msgs::msg::ContactInformation>& contacts,
                    std::vector<moveit_msgs::msg::CostSource>& cost_sources,
                    std::vector<moveit_msgs::msg::ConstraintEvalResult>& constraint_result);
 
private:
  bool computeService(const std::shared_ptr<rmw_request_id_t>& request_header,
                      const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Request>& req,
                      const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Response>& res);
 
  rclcpp::Service<moveit_msgs::srv::GetStateValidity>::SharedPtr validity_service_;
};
}  // namespace move_group