moveit2
The MoveIt Motion Planning Framework for ROS 2.
chomp_planning_context.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2016, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Chittaranjan Srinivas Swaminathan */
36 
37 #pragma once
38 
41 
42 #include <rclcpp/rclcpp.hpp>
43 
44 namespace chomp_interface
45 {
46 MOVEIT_CLASS_FORWARD(CHOMPPlanningContext); // Defines CHOMPPlanningContextPtr, ConstPtr, WeakPtr... etc
47 
49 {
50 public:
53 
54  void clear() override;
55  bool terminate() override;
56 
57  CHOMPPlanningContext(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
58  const rclcpp::Node::SharedPtr& node);
59 
60  ~CHOMPPlanningContext() override = default;
61 
62  void initialize();
63 
64 private:
65  CHOMPInterfacePtr chomp_interface_;
66  moveit::core::RobotModelConstPtr robot_model_;
67 };
68 
69 } // namespace chomp_interface
bool terminate() override
If solve() is running, terminate the computation. Return false if termination not possible....
~CHOMPPlanningContext() override=default
void clear() override
Clear the data structures used by the planner.
CHOMPPlanningContext(const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node)
bool solve(planning_interface::MotionPlanResponse &res) override
Solve the motion planning problem and store the result in res. This function should not clear data st...
Representation of a particular planning context – the planning scene and the request are known,...
MOVEIT_CLASS_FORWARD(CHOMPInterface)
name
Definition: setup.py:7