text: /*********************************************************************
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2012, Willow Garage, Inc.
   *  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 Willow Garage 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.
   *********************************************************************/
  
  /* Author: Ioan Sucan */
  
  #include "state_validation_service_capability.h"
  #include <moveit/robot_state/conversions.h>
  #include <moveit/kinematic_constraints/utils.h>
  #include <moveit/collision_detection/collision_tools.h>
  #include <moveit/move_group/capability_names.h>
  
  namespace move_group
  {
  MoveGroupStateValidationService::MoveGroupStateValidationService() : MoveGroupCapability("StateValidationService")
  {
  }
  
  void MoveGroupStateValidationService::initialize()
  {
    validity_service_ = root_node_handle_.advertiseService(STATE_VALIDITY_SERVICE_NAME,
                                                           &MoveGroupStateValidationService::computeService, this);
  }
  
  bool MoveGroupStateValidationService::computeService(moveit_msgs::GetStateValidity::Request& req,
                                                       moveit_msgs::GetStateValidity::Response& res)
  {
    planning_scene_monitor::LockedPlanningSceneRO ls(context_->planning_scene_monitor_);
    robot_state::RobotState rs = ls->getCurrentState();
    robot_state::robotStateMsgToRobotState(req.robot_state, rs);
  
    res.valid = true;
  
    // configure collision request
    collision_detection::CollisionRequest creq;
    creq.group_name = req.group_name;
    creq.cost = true;
    creq.contacts = true;
    creq.max_contacts = ls->getWorld()->size() + ls->getRobotModel()->getLinkModelsWithCollisionGeometry().size();
    creq.max_cost_sources = creq.max_contacts;
    creq.max_contacts *= creq.max_contacts;
    collision_detection::CollisionResult cres;
  
    // check collision
    ls->checkCollision(creq, cres, rs);
  
    // copy contacts if any
    if (cres.collision)
    {
      ros::Time time_now = ros::Time::now();
      res.contacts.reserve(cres.contact_count);
      res.valid = false;
      for (collision_detection::CollisionResult::ContactMap::const_iterator it = cres.contacts.begin();
           it != cres.contacts.end(); ++it)
        for (std::size_t k = 0; k < it->second.size(); ++k)
        {
          res.contacts.resize(res.contacts.size() + 1);
          collision_detection::contactToMsg(it->second[k], res.contacts.back());
          res.contacts.back().header.frame_id = ls->getPlanningFrame();
          res.contacts.back().header.stamp = time_now;
        }
    }
  
    // copy cost sources
    res.cost_sources.reserve(cres.cost_sources.size());
    for (std::set<collision_detection::CostSource>::const_iterator it = cres.cost_sources.begin();
         it != cres.cost_sources.end(); ++it)
    {
      res.cost_sources.resize(res.cost_sources.size() + 1);
      collision_detection::costSourceToMsg(*it, res.cost_sources.back());
    }
  
    // evaluate constraints
    if (!kinematic_constraints::isEmpty(req.constraints))
    {
      kinematic_constraints::KinematicConstraintSet kset(ls->getRobotModel());
      kset.add(req.constraints, ls->getTransforms());
      std::vector<kinematic_constraints::ConstraintEvaluationResult> kres;
      kinematic_constraints::ConstraintEvaluationResult total_result = kset.decide(rs, kres);
      if (!total_result.satisfied)
        res.valid = false;
  
      // copy constraint results
      res.constraint_result.resize(kres.size());
      for (std::size_t k = 0; k < kres.size(); ++k)
      {
        res.constraint_result[k].result = kres[k].satisfied;
        res.constraint_result[k].distance = kres[k].distance;
      }
    }
  
    return true;
  }
  }  // namespace move_group
  
  #include <class_loader/class_loader.hpp>
  CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupStateValidationService, move_group::MoveGroupCapability)
  