C++ PlanningSceneConstPtr::getAllowedCollisionMatrix方法代码示例

//.........这里部分代码省略.........
    else
      attached_object_name = attached_bodies[0]->getName();
  }

  const robot_state::AttachedBody *attached_body = planning_scene->getCurrentState().getAttachedBody(attached_object_name);
  if (!attached_body)
  {
    ROS_ERROR_NAMED("manipulation", "There is no object to detach for place action");
    error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_OBJECT_NAME;
    return false;
  }

  ros::WallTime start_time = ros::WallTime::now();

  // construct common data for possible manipulation plans
  ManipulationPlanSharedDataPtr plan_data(new ManipulationPlanSharedData());
  ManipulationPlanSharedDataConstPtr const_plan_data = plan_data;
  plan_data->planning_group_ = jmg;
  plan_data->end_effector_group_ = eef;
  plan_data->ik_link_ = planning_scene->getRobotModel()->getLinkModel(eef->getEndEffectorParentGroup().second);
  
  plan_data->timeout_ = endtime;
  plan_data->path_constraints_ = goal.path_constraints;
  plan_data->planner_id_ = goal.planner_id;
  plan_data->minimize_object_distance_ = false;
  plan_data->max_goal_sampling_attempts_ = std::max(2u, jmg->getDefaultIKAttempts());
  moveit_msgs::AttachedCollisionObject &detach_object_msg = plan_data->diff_attached_object_;

  // construct the attached object message that will change the world to what it would become after a placement
  detach_object_msg.link_name = attached_body->getAttachedLinkName();
  detach_object_msg.object.id = attached_object_name;
  detach_object_msg.object.operation = moveit_msgs::CollisionObject::REMOVE;

  collision_detection::AllowedCollisionMatrixPtr approach_place_acm(new collision_detection::AllowedCollisionMatrix(planning_scene->getAllowedCollisionMatrix()));

  // we are allowed to touch certain other objects with the gripper
  approach_place_acm->setEntry(eef->getLinkModelNames(), goal.allowed_touch_objects, true);

  // we are allowed to touch the target object slightly while retreating the end effector
  std::vector<std::string> touch_links(attached_body->getTouchLinks().begin(), attached_body->getTouchLinks().end());
  approach_place_acm->setEntry(attached_object_name, touch_links, true);

  if (!goal.support_surface_name.empty())
  {
    // we are allowed to have contact between the target object and the support surface before the place
    approach_place_acm->setEntry(goal.support_surface_name, attached_object_name, true);

    // optionally, it may be allowed to touch the support surface with the gripper
    if (goal.allow_gripper_support_collision)
      approach_place_acm->setEntry(goal.support_surface_name, eef->getLinkModelNames(), true);
  }


  // configure the manipulation pipeline
  pipeline_.reset();

  ManipulationStagePtr stage1(new ReachableAndValidPoseFilter(planning_scene, approach_place_acm, pick_place_->getConstraintsSamplerManager()));
  ManipulationStagePtr stage2(new ApproachAndTranslateStage(planning_scene, approach_place_acm));
  ManipulationStagePtr stage3(new PlanStage(planning_scene, pick_place_->getPlanningPipeline()));
  pipeline_.addStage(stage1).addStage(stage2).addStage(stage3);

  initialize();

  pipeline_.start();

  // add possible place locations

bool PickPlan::plan(const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PickupGoal &goal)
{
  double timeout = goal.allowed_planning_time;
  ros::WallTime endtime = ros::WallTime::now() + ros::WallDuration(timeout);

  std::string planning_group = goal.group_name;
  std::string end_effector = goal.end_effector;
  if (end_effector.empty() && !planning_group.empty())
  {
    const robot_model::JointModelGroup *jmg = planning_scene->getRobotModel()->getJointModelGroup(planning_group);
    if (!jmg)
    {
      error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
      return false;
    }
    const std::vector<std::string> &eefs = jmg->getAttachedEndEffectorNames();
    if (!eefs.empty())
    {
      end_effector = eefs.front();
      if (eefs.size() > 1)
        ROS_WARN_STREAM_NAMED("manipulation", "Choice of end-effector for group '" << planning_group << "' is ambiguous. Assuming '" << end_effector << "'");
    }
  }
  else
    if (!end_effector.empty() && planning_group.empty())
    {
      const robot_model::JointModelGroup *jmg = planning_scene->getRobotModel()->getEndEffector(end_effector);
      if (!jmg)
      {
        error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
        return false;
      }
      planning_group = jmg->getEndEffectorParentGroup().first;
      if (planning_group.empty())
      {   
        ROS_ERROR_STREAM_NAMED("manipulation", "No parent group to plan in was identified based on end-effector '" << end_effector << "'. Please define a parent group in the SRDF.");
        error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
        return false;
      }
      else
        ROS_INFO_STREAM_NAMED("manipulation", "Assuming the planning group for end effector '" << end_effector << "' is '" << planning_group << "'");
    }
  const robot_model::JointModelGroup *eef = end_effector.empty() ? NULL : planning_scene->getRobotModel()->getEndEffector(end_effector);
  if (!eef)
  {
    ROS_ERROR_NAMED("manipulation", "No end-effector specified for pick action");
    error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
    return false;
  }
  const std::string &ik_link = eef->getEndEffectorParentGroup().second;

  ros::WallTime start_time = ros::WallTime::now();

  // construct common data for possible manipulation plans
  ManipulationPlanSharedDataPtr plan_data(new ManipulationPlanSharedData());
  ManipulationPlanSharedDataConstPtr const_plan_data = plan_data;
  plan_data->planning_group_ = planning_scene->getRobotModel()->getJointModelGroup(planning_group);
  plan_data->end_effector_group_ = eef;
  plan_data->ik_link_ = planning_scene->getRobotModel()->getLinkModel(ik_link);
  plan_data->timeout_ = endtime;
  plan_data->path_constraints_ = goal.path_constraints;
  plan_data->planner_id_ = goal.planner_id;
  plan_data->minimize_object_distance_ = goal.minimize_object_distance;
  plan_data->max_goal_sampling_attempts_ = std::max(2u, plan_data->planning_group_->getDefaultIKAttempts());
  moveit_msgs::AttachedCollisionObject &attach_object_msg = plan_data->diff_attached_object_;

  // construct the attached object message that will change the world to what it would become after a pick
  attach_object_msg.link_name = ik_link;
  attach_object_msg.object.id = goal.target_name;
  attach_object_msg.object.operation = moveit_msgs::CollisionObject::ADD;
  attach_object_msg.touch_links = goal.attached_object_touch_links.empty() ? eef->getLinkModelNames() : goal.attached_object_touch_links;
  collision_detection::AllowedCollisionMatrixPtr approach_grasp_acm(new collision_detection::AllowedCollisionMatrix(planning_scene->getAllowedCollisionMatrix()));

  // we are allowed to touch the target object
  approach_grasp_acm->setEntry(goal.target_name, attach_object_msg.touch_links, true);
  // we are allowed to touch certain other objects with the gripper
  approach_grasp_acm->setEntry(eef->getLinkModelNames(), goal.allowed_touch_objects, true);
  if (!goal.support_surface_name.empty())
  {
    // we are allowed to have contact between the target object and the support surface before the grasp
    approach_grasp_acm->setEntry(goal.support_surface_name, goal.target_name, true);

    // optionally, it may be allowed to touch the support surface with the gripper
    if (goal.allow_gripper_support_collision)
      approach_grasp_acm->setEntry(goal.support_surface_name, eef->getLinkModelNames(), true);
  }

  // configure the manipulation pipeline
  pipeline_.reset();
  ManipulationStagePtr stage1(new ReachableAndValidPoseFilter(planning_scene, approach_grasp_acm, pick_place_->getConstraintsSamplerManager()));
  ManipulationStagePtr stage2(new ApproachAndTranslateStage(planning_scene, approach_grasp_acm));
  ManipulationStagePtr stage3(new PlanStage(planning_scene, pick_place_->getPlanningPipeline()));
  pipeline_.addStage(stage1).addStage(stage2).addStage(stage3);

  initialize();
  pipeline_.start();

  // order the grasps by quality
  std::vector<std::size_t> grasp_order(goal.possible_grasps.size());
  for (std::size_t i = 0 ; i < goal.possible_grasps.size() ; ++i)
//.........这里部分代码省略.........