pipeline_planner.h

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/* Authors: Robert Haschke
   Desc:    plan using MoveIt's PlanningPipeline
*/
 
#pragma once
 
#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit/macros/class_forward.h>
 
namespace planning_pipeline {
MOVEIT_CLASS_FORWARD(PlanningPipeline);
}
 
namespace moveit {
namespace task_constructor {
namespace solvers {
 
MOVEIT_CLASS_FORWARD(PipelinePlanner);
 
class PipelinePlanner : public PlannerInterface
{
public:
    struct Specification
    {
        moveit::core::RobotModelConstPtr model;
        std::string ns{ "move_group" };
        std::string pipeline{ "ompl" };
        std::string adapter_param{ "request_adapters" };
    };
 
    static planning_pipeline::PlanningPipelinePtr create(const moveit::core::RobotModelConstPtr& model) {
        Specification spec;
        spec.model = model;
        return create(spec);
    }
 
    static planning_pipeline::PlanningPipelinePtr create(const Specification& spec);
 
    PipelinePlanner(const std::string& pipeline = "ompl");
 
    PipelinePlanner(const planning_pipeline::PlanningPipelinePtr& planning_pipeline);
 
    void setPlannerId(const std::string& planner) { setProperty("planner", planner); }
 
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
    Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
                const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
                const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
 
    Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
                const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
                const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
                const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
 
protected:
    Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit_msgs::MotionPlanRequest& req,
                robot_trajectory::RobotTrajectoryPtr& result);
 
    std::string pipeline_name_;
    planning_pipeline::PlanningPipelinePtr planner_;
};
}  // namespace solvers
}  // namespace task_constructor
}  // namespace moveit