planner_interface.h

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/* Authors: Robert Haschke
   Desc:    planner interface
*/
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/Constraints.h>
#include <moveit/task_constructor/properties.h>
#include <Eigen/Geometry>
 
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene);
}
namespace robot_trajectory {
MOVEIT_CLASS_FORWARD(RobotTrajectory);
}
namespace trajectory_processing {
MOVEIT_CLASS_FORWARD(TimeParameterization);
}
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(LinkModel);
MOVEIT_CLASS_FORWARD(RobotModel);
MOVEIT_CLASS_FORWARD(JointModelGroup);
}  // namespace core
}  // namespace moveit
 
namespace moveit {
namespace task_constructor {
namespace solvers {
 
MOVEIT_CLASS_FORWARD(PlannerInterface);
class PlannerInterface
{
    // these properties take precedence over stage properties
    PropertyMap properties_;
 
public:
    struct Result
    {
        bool success;
        std::string message;
 
        operator bool() const { return success; }
    };
 
    PlannerInterface();
    virtual ~PlannerInterface() {}
 
    PropertyMap& properties() { return properties_; }
    const PropertyMap& properties() const { return properties_; }
 
    void setProperty(const std::string& name, const boost::any& value) { properties_.set(name, value); }
    void setTimeout(double timeout) { properties_.set("timeout", timeout); }
    void setMaxVelocityScalingFactor(double factor) { properties_.set("max_velocity_scaling_factor", factor); }
    void setMaxAccelerationScalingFactor(double factor) { properties_.set("max_acceleration_scaling_factor", factor); }
 
    void setMaxCartesianSpeed(double max) { setProperty("max_cartesian_speed", max); }
    void setCartesianSpeedLimitedLink(const std::string& link) { setProperty("cartesian_speed_limited_link", link); }
 
    void setTimeParameterization(const trajectory_processing::TimeParameterizationPtr& tp) {
        properties_.set("time_parameterization", tp);
    }
 
    virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0;
 
    virtual Result plan(const planning_scene::PlanningSceneConstPtr& from,
                        const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
                        double timeout, robot_trajectory::RobotTrajectoryPtr& result,
                        const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
 
    virtual 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()) = 0;
};
}  // namespace solvers
}  // namespace task_constructor
}  // namespace moveit