[Personalrobots-commit] SF.net SVN: personalrobots:[18122] pkg/trunk

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Revision: 18122
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18122&view=rev
Author:   isucan
Date:     2009-07-01 20:19:58 +0000 (Wed, 01 Jul 2009)

Log Message:
-----------
renaming service name from KinematicPlan to MotionPlan

Modified Paths:
--------------
    pkg/trunk/motion_planning/ompl_planning/include/ompl_planning/RequestHandler.h
    pkg/trunk/motion_planning/ompl_planning/mainpage.dox
    pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp
    pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp
    pkg/trunk/sandbox/chomp_motion_planner/include/chomp_motion_planner/chomp_planner_node.h
    pkg/trunk/sandbox/chomp_motion_planner/src/chomp_planner_node.cpp

Added Paths:
-----------
    pkg/trunk/motion_planning/motion_planning_srvs/srv/MotionPlan.srv

Removed Paths:
-------------
    pkg/trunk/motion_planning/motion_planning_srvs/srv/KinematicPlan.srv

Deleted: pkg/trunk/motion_planning/motion_planning_srvs/srv/KinematicPlan.srv
===================================================================
--- pkg/trunk/motion_planning/motion_planning_srvs/srv/KinematicPlan.srv	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/motion_planning/motion_planning_srvs/srv/KinematicPlan.srv	2009-07-01 20:19:58 UTC (rev 18122)
@@ -1,38 +0,0 @@
-# This service contains the definition for a request to the motion
-# planner and the output it provides
-
-# Parameters for the state space 
-motion_planning_msgs/KinematicSpaceParameters params
-
-# Starting state updates. If certain joints should be considered
-# at positions other than the current ones, these positions should
-# be set here
-motion_planning_msgs/KinematicJoint[] start_state
-
-# The goal state for the model to plan for. The goal is achieved
-# if all constraints are satisfied
-motion_planning_msgs/KinematicConstraints goal_constraints
-
-# No state in the produced motion plan will violate these constraints
-motion_planning_msgs/KinematicConstraints path_constraints
-
-# The number of times this plan is to be computed. Shortest solution
-# will be reported.
-int32 times
-
-# The maximum amount of time the motion planner is allowed to plan for
-float64 allowed_time
-
----
-
-# A solution path, if found
-motion_planning_msgs/KinematicPath path
-
-# distance to goal as computed by the heuristic
-float64 distance
-
-# set to 1 if the computed path was approximate
-byte approximate
-
-# if state information was not up to date when planning, this is set to 1
-byte unsafe

Copied: pkg/trunk/motion_planning/motion_planning_srvs/srv/MotionPlan.srv (from rev 18088, pkg/trunk/motion_planning/motion_planning_srvs/srv/KinematicPlan.srv)
===================================================================
--- pkg/trunk/motion_planning/motion_planning_srvs/srv/MotionPlan.srv	                        (rev 0)
+++ pkg/trunk/motion_planning/motion_planning_srvs/srv/MotionPlan.srv	2009-07-01 20:19:58 UTC (rev 18122)
@@ -0,0 +1,38 @@
+# This service contains the definition for a request to the motion
+# planner and the output it provides
+
+# Parameters for the state space 
+motion_planning_msgs/KinematicSpaceParameters params
+
+# Starting state updates. If certain joints should be considered
+# at positions other than the current ones, these positions should
+# be set here
+motion_planning_msgs/KinematicJoint[] start_state
+
+# The goal state for the model to plan for. The goal is achieved
+# if all constraints are satisfied
+motion_planning_msgs/KinematicConstraints goal_constraints
+
+# No state in the produced motion plan will violate these constraints
+motion_planning_msgs/KinematicConstraints path_constraints
+
+# The number of times this plan is to be computed. Shortest solution
+# will be reported.
+int32 times
+
+# The maximum amount of time the motion planner is allowed to plan for
+float64 allowed_time
+
+---
+
+# A solution path, if found
+motion_planning_msgs/KinematicPath path
+
+# distance to goal as computed by the heuristic
+float64 distance
+
+# set to 1 if the computed path was approximate
+byte approximate
+
+# if state information was not up to date when planning, this is set to 1
+byte unsafe

Modified: pkg/trunk/motion_planning/ompl_planning/include/ompl_planning/RequestHandler.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/ompl_planning/RequestHandler.h	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/motion_planning/ompl_planning/include/ompl_planning/RequestHandler.h	2009-07-01 20:19:58 UTC (rev 18122)
@@ -39,7 +39,7 @@
 
 #include "ompl_planning/Model.h"
 #include <ros/ros.h>
-#include <motion_planning_srvs/KinematicPlan.h>
+#include <motion_planning_srvs/MotionPlan.h>
 
 /** \brief Main namespace */
 namespace ompl_planning
@@ -81,10 +81,10 @@
 	void disableDebugMode(void);
 	
 	/** \brief Check if the request is valid */
-	bool isRequestValid(ModelMap &models, motion_planning_srvs::KinematicPlan::Request &req);
+	bool isRequestValid(ModelMap &models, motion_planning_srvs::MotionPlan::Request &req);
 
 	/** \brief Check and compute a motion plan. Return true if the plan was succesfully computed */
-	bool computePlan(ModelMap &models, const planning_models::StateParams *start, motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res);
+	bool computePlan(ModelMap &models, const planning_models::StateParams *start, motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res);
 	
 	
     private:
@@ -98,13 +98,13 @@
 	
 	/** \brief Set up all the data needed by motion planning based on a request and lock the planner setup
 	 *  using this data */
-	void configure(const planning_models::StateParams *startState, motion_planning_srvs::KinematicPlan::Request &req, PlannerSetup *psetup);
+	void configure(const planning_models::StateParams *startState, motion_planning_srvs::MotionPlan::Request &req, PlannerSetup *psetup);
 	
 	/** \brief Compute the actual motion plan. Return true if computed plan was trivial (start state already in goal region) */
 	bool callPlanner(PlannerSetup *psetup, int times, double allowed_time, Solution &sol);
 
 	/** \brief Fill the response with solution data */
-	void fillResult(PlannerSetup *psetup, const planning_models::StateParams *start, motion_planning_srvs::KinematicPlan::Response &res, const Solution &sol);
+	void fillResult(PlannerSetup *psetup, const planning_models::StateParams *start, motion_planning_srvs::MotionPlan::Response &res, const Solution &sol);
 
 	/** \brief Send visualization markers */
 	void display(PlannerSetup *psetup);

Modified: pkg/trunk/motion_planning/ompl_planning/mainpage.dox
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/mainpage.dox	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/motion_planning/ompl_planning/mainpage.dox	2009-07-01 20:19:58 UTC (rev 18122)
@@ -78,7 +78,7 @@
 
 \subsubsection services ROS services
 
-- @b "plan_kinematic_path"/KinematicPlan : given a robot model, starting and goal states,
+- @b "plan_kinematic_path"/MotionPlan : given a robot model, starting and goal states,
   this service computes a collision free path.
 
 

Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp	2009-07-01 20:19:58 UTC (rev 18122)
@@ -39,7 +39,7 @@
 #include <ros/console.h>
 #include <sstream>
 
-bool ompl_planning::RequestHandler::isRequestValid(ModelMap &models, motion_planning_srvs::KinematicPlan::Request &req)
+bool ompl_planning::RequestHandler::isRequestValid(ModelMap &models, motion_planning_srvs::MotionPlan::Request &req)
 {   
     ModelMap::const_iterator pos = models.find(req.params.model_id);
     
@@ -114,7 +114,7 @@
     return true;
 }
 
-void ompl_planning::RequestHandler::configure(const planning_models::StateParams *startState, motion_planning_srvs::KinematicPlan::Request &req, PlannerSetup *psetup)
+void ompl_planning::RequestHandler::configure(const planning_models::StateParams *startState, motion_planning_srvs::MotionPlan::Request &req, PlannerSetup *psetup)
 {
     /* clear memory */
     psetup->si->clearGoal();
@@ -194,7 +194,7 @@
 }
 
 bool ompl_planning::RequestHandler::computePlan(ModelMap &models, const planning_models::StateParams *start, 
-						motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res)
+						motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res)
 {
     if (!isRequestValid(models, req))
 	return false;
@@ -236,7 +236,7 @@
     return true;
 }
 
-void ompl_planning::RequestHandler::fillResult(PlannerSetup *psetup, const planning_models::StateParams *start, motion_planning_srvs::KinematicPlan::Response &res, const Solution &sol)
+void ompl_planning::RequestHandler::fillResult(PlannerSetup *psetup, const planning_models::StateParams *start, motion_planning_srvs::MotionPlan::Response &res, const Solution &sol)
 {   
     std::vector<planning_models::KinematicModel::Joint*> joints;
     psetup->model->kmodel->getJoints(joints);

Modified: pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/motion_planning/ompl_planning/src/motion_planner.cpp	2009-07-01 20:19:58 UTC (rev 18122)
@@ -128,7 +128,7 @@
 	return NULL;
     }
     
-    bool planToGoal(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res)
+    bool planToGoal(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res)
     {
 	ROS_INFO("Received request for planning");
 	bool st = false;

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h	2009-07-01 20:19:58 UTC (rev 18122)
@@ -55,7 +55,7 @@
 
 /** services **/
 #include <sbpl_arm_planner_node/PlanPathSrv.h>
-#include <motion_planning_srvs/KinematicPlan.h>
+#include <motion_planning_srvs/MotionPlan.h>
 
 namespace sbpl_arm_planner_node
 {
@@ -70,7 +70,7 @@
 
       ~SBPLArmPlannerNode();
 
-      bool planKinematicPath(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res);
+      bool planKinematicPath(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res);
 
 
      private:
@@ -125,8 +125,8 @@
 
       bool setGoalState(const std::vector<motion_planning_msgs::JointConstraint> &joint_constraint);
 
-      bool planToState(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res);
-      bool planToPosition(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res);
+      bool planToState(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res);
+      bool planToPosition(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res);
 
       bool plan(motion_planning_msgs::KinematicPath &arm_path);
 

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp	2009-07-01 20:19:58 UTC (rev 18122)
@@ -346,7 +346,7 @@
 }
 
 /** plan to joint space goal */
-bool SBPLArmPlannerNode::planToState(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res)
+bool SBPLArmPlannerNode::planToState(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res)
 {
   motion_planning_msgs::KinematicPath arm_path;
 
@@ -406,7 +406,7 @@
 }
 
 /** plan to cartesian goal(s) */
-bool SBPLArmPlannerNode::planToPosition(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res)
+bool SBPLArmPlannerNode::planToPosition(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res)
 {
 //   for(unsigned int i=0; i < req.get_start_state_size(); i++)
 //   {
@@ -510,7 +510,7 @@
 }
 
 /** call back function */
-bool SBPLArmPlannerNode::planKinematicPath(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res)
+bool SBPLArmPlannerNode::planKinematicPath(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res)
 {
   ROS_INFO("Callback called\n");
 

Modified: pkg/trunk/sandbox/chomp_motion_planner/include/chomp_motion_planner/chomp_planner_node.h
===================================================================
--- pkg/trunk/sandbox/chomp_motion_planner/include/chomp_motion_planner/chomp_planner_node.h	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/sandbox/chomp_motion_planner/include/chomp_motion_planner/chomp_planner_node.h	2009-07-01 20:19:58 UTC (rev 18122)
@@ -38,7 +38,7 @@
 #define CHOMP_PLANNER_NODE_H_
 
 #include <ros/ros.h>
-#include <motion_planning_srvs/KinematicPlan.h>
+#include <motion_planning_srvs/MotionPlan.h>
 #include <chomp_motion_planner/chomp_robot_model.h>
 
 namespace chomp
@@ -77,7 +77,7 @@
   /**
    * \brief Main entry point for motion planning (callback for the plan_kinematic_path service)
    */
-  bool planKinematicPath(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res);
+  bool planKinematicPath(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res);
 
 private:
   ros::NodeHandle node_handle_;                         /**< ROS Node handle */

Modified: pkg/trunk/sandbox/chomp_motion_planner/src/chomp_planner_node.cpp
===================================================================
--- pkg/trunk/sandbox/chomp_motion_planner/src/chomp_planner_node.cpp	2009-07-01 20:13:15 UTC (rev 18121)
+++ pkg/trunk/sandbox/chomp_motion_planner/src/chomp_planner_node.cpp	2009-07-01 20:19:58 UTC (rev 18122)
@@ -83,7 +83,7 @@
   return 0;
 }
 
-bool ChompPlannerNode::planKinematicPath(motion_planning_srvs::KinematicPlan::Request &req, motion_planning_srvs::KinematicPlan::Response &res)
+bool ChompPlannerNode::planKinematicPath(motion_planning_srvs::MotionPlan::Request &req, motion_planning_srvs::MotionPlan::Response &res)
 {
   // get the planning group:
   const ChompRobotModel::ChompPlanningGroup* group = chomp_robot_model_.getPlanningGroup(req.params.model_id);


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