connect.h

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/* Authors: Robert Haschke, Michael Goerner
   Desc:    Connect arbitrary states by motion planning
*/
 
#pragma once
 
#include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/solvers/planner_interface.h>
 
#include <moveit_msgs/Constraints.h>
 
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState);
}
}  // namespace moveit
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class Connect : public Connecting
{
protected:
    bool compatible(const InterfaceState& from_state, const InterfaceState& to_state) const override;
 
public:
    enum MergeMode : uint8_t
    {
        SEQUENTIAL = 0,
        WAYPOINTS = 1
    };
 
    using GroupPlannerVector = std::vector<std::pair<std::string, solvers::PlannerInterfacePtr> >;
    Connect(const std::string& name = "connect", const GroupPlannerVector& planners = {});
 
    void setMaxDistance(double max_distance) { setProperty("max_distance", max_distance); }
    void setPathConstraints(moveit_msgs::Constraints path_constraints) {
        setProperty("path_constraints", std::move(path_constraints));
    }
 
    void reset() override;
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
    void compute(const InterfaceState& from, const InterfaceState& to) override;
 
protected:
    SolutionSequencePtr makeSequential(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
                                       const std::vector<planning_scene::PlanningSceneConstPtr>& intermediate_scenes,
                                       const InterfaceState& from, const InterfaceState& to);
    SubTrajectoryPtr merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
                           const std::vector<planning_scene::PlanningSceneConstPtr>& intermediate_scenes,
                           const moveit::core::RobotState& state);
 
protected:
    GroupPlannerVector planner_;
    moveit::core::JointModelGroupPtr merged_jmg_;
    std::list<SubTrajectory> subsolutions_;
    std::list<InterfaceState> states_;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit