diff --git a/core/include/moveit/task_constructor/stages/fixed_state.h b/core/include/moveit/task_constructor/stages/fixed_state.h new file mode 100644 index 00000000..4b3952b9 --- /dev/null +++ b/core/include/moveit/task_constructor/stages/fixed_state.h @@ -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 + +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; +}; + +} } } diff --git a/core/src/stages/CMakeLists.txt b/core/src/stages/CMakeLists.txt index 8f7d40da..02915ad2 100644 --- a/core/src/stages/CMakeLists.txt +++ b/core/src/stages/CMakeLists.txt @@ -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 diff --git a/core/src/stages/fixed_state.cpp b/core/src/stages/fixed_state.cpp new file mode 100644 index 00000000..1af35363 --- /dev/null +++ b/core/src/stages/fixed_state.cpp @@ -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 */ + +#include +#include + +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; +} + +} } }