moveit2
The MoveIt Motion Planning Framework for ROS 2.
basecmd.h
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34 
35 #pragma once
36 
37 #include <string>
38 
39 #include "motioncmd.h"
40 
42 {
43 template <class StartType, class GoalType>
44 class BaseCmd : public MotionCmd
45 {
46 public:
47  BaseCmd() = default;
48  BaseCmd(const BaseCmd&) = default;
49  BaseCmd(BaseCmd&&) noexcept = default;
50  BaseCmd& operator=(const BaseCmd&) = default;
51  BaseCmd& operator=(BaseCmd&&) noexcept = default;
52  virtual ~BaseCmd() = default;
53 
54 public:
56 
57  void setStartConfiguration(StartType start);
58  void setGoalConfiguration(GoalType goal);
59 
60  StartType& getStartConfiguration();
61  const StartType& getStartConfiguration() const;
62 
63  GoalType& getGoalConfiguration();
64  const GoalType& getGoalConfiguration() const;
65 
66 private:
67  virtual std::string getPlannerId() const = 0;
68 
69 protected:
70  GoalType goal_;
71  StartType start_;
72 };
73 
74 //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
75 template <class StartType, class GoalType>
76 inline void BaseCmd<StartType, GoalType>::setStartConfiguration(StartType start)
77 {
78  start_ = start;
79 }
80 
81 template <class StartType, class GoalType>
83 {
84  goal_ = goal;
85 }
86 
87 template <class StartType, class GoalType>
89 {
90  return start_;
91 }
92 
93 template <class StartType, class GoalType>
95 {
96  return start_;
97 }
98 
99 template <class StartType, class GoalType>
101 {
102  return goal_;
103 }
104 
105 template <class StartType, class GoalType>
107 {
108  return goal_;
109 }
110 
111 template <class StartType, class GoalType>
113 {
115  req.planner_id = getPlannerId();
116  req.group_name = this->planning_group_;
117 
118  req.max_velocity_scaling_factor = this->vel_scale_;
119  req.max_acceleration_scaling_factor = this->acc_scale_;
120 
121  req.start_state = this->start_.toMoveitMsgsRobotState();
122  req.goal_constraints.push_back(this->goal_.toGoalConstraints());
123 
124  return req;
125 }
126 } // namespace pilz_industrial_motion_planner_testutils
planning_interface::MotionPlanRequest toRequest() const override
Definition: basecmd.h:112
Base class for commands storing all general information of a command.
Definition: motioncmd.h:48
This namespace includes the base class for MoveIt planners.
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest