FixedState generator

This commit is contained in:
Robert Haschke 2018-02-21 21:44:45 +01:00
parent e1281130ac
commit 8624224d6b
3 changed files with 122 additions and 0 deletions

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@ -0,0 +1,60 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Bielefeld University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Bielefeld University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Authors: Robert Haschke
Desc: Generator Stage spawning a pre-defined, fixed planning scene state
*/
#pragma once
#include <moveit/task_constructor/stage.h>
namespace moveit { namespace task_constructor { namespace stages {
/** Spawn a pre-defined PlanningScene state */
class FixedState : public Generator {
public:
FixedState(const std::string& name = "initial state");
void setState(const planning_scene::PlanningScenePtr& scene);
bool canCompute() const override;
bool compute() override;
protected:
planning_scene::PlanningScenePtr scene_;
bool ran_ = false;
};
} } }

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@ -3,6 +3,7 @@ add_library(${PROJECT_NAME}_stages
${PROJECT_INCLUDE}/stages/fix_collision_objects.h
${PROJECT_INCLUDE}/stages/current_state.h
${PROJECT_INCLUDE}/stages/fixed_state.h
${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
${PROJECT_INCLUDE}/stages/compute_ik.h
@ -18,6 +19,7 @@ add_library(${PROJECT_NAME}_stages
fix_collision_objects.cpp
current_state.cpp
fixed_state.cpp
generate_grasp_pose.cpp
compute_ik.cpp

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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Bielefeld University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Bielefeld University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Authors: Robert Haschke */
#include <moveit/task_constructor/stages/fixed_state.h>
#include <moveit/planning_scene/planning_scene.h>
namespace moveit { namespace task_constructor { namespace stages {
FixedState::FixedState(const std::string &name)
: Generator(name)
{}
void FixedState::setState(const planning_scene::PlanningScenePtr& scene)
{
scene_ = scene;
}
bool FixedState::canCompute() const{
return !ran_ && scene_;
}
bool FixedState::compute() {
spawn(InterfaceState(scene_), 0.0);
return ran_= true;
}
} } }