move_to.h

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/* Authors: Michael Goerner, Robert Haschke
   Desc:    Move to joint-state or Cartesian goal pose
*/
 
#pragma once
 
#include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit_msgs/Constraints.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h>
 
namespace moveit {
namespace core {
class RobotState;
}
}  // namespace moveit
namespace moveit {
namespace task_constructor {
namespace stages {
 
class MoveTo : public PropagatingEitherWay
{
public:
    MoveTo(const std::string& name = "move to",
           const solvers::PlannerInterfacePtr& planner = solvers::PlannerInterfacePtr());
 
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
    void setGroup(const std::string& group) { setProperty("group", group); }
    void setIKFrame(const geometry_msgs::PoseStamped& pose) { setProperty("ik_frame", pose); }
    void setIKFrame(const Eigen::Isometry3d& pose, const std::string& link);
    template <typename T>
    void setIKFrame(const T& pose, const std::string& link) {
        setIKFrame(Eigen::Isometry3d(pose), link);
    }
    void setIKFrame(const std::string& link) { setIKFrame(Eigen::Isometry3d::Identity(), link); }
 
    void setGoal(const geometry_msgs::PoseStamped& pose) { setProperty("goal", pose); }
 
    void setGoal(const geometry_msgs::PointStamped& point) { setProperty("goal", point); }
 
    void setGoal(const std::string& named_joint_pose) { setProperty("goal", named_joint_pose); }
 
    void setGoal(const moveit_msgs::RobotState& robot_state) { setProperty("goal", robot_state); }
 
    void setGoal(const std::map<std::string, double>& joints);
 
    void setPathConstraints(moveit_msgs::Constraints path_constraints) {
        setProperty("path_constraints", std::move(path_constraints));
    }
 
protected:
    // return false if trajectory shouldn't be stored
    bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& trajectory,
                 Interface::Direction dir) override;
    bool getJointStateGoal(const boost::any& goal, const core::JointModelGroup* jmg, moveit::core::RobotState& state);
    bool getPoseGoal(const boost::any& goal, const planning_scene::PlanningScenePtr& scene,
                     Eigen::Isometry3d& target_eigen);
    bool getPointGoal(const boost::any& goal, const Eigen::Isometry3d& ik_pose,
                      const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen);
 
protected:
    solvers::PlannerInterfacePtr planner_;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit