default_planner_request_adapters::AddTimeOptimalParameterization Class Reference

This adapter uses the time-optimal trajectory generation method. More...

Inheritance diagram for default_planner_request_adapters::AddTimeOptimalParameterization:

Collaboration diagram for default_planner_request_adapters::AddTimeOptimalParameterization:

Public Member Functions
	AddTimeOptimalParameterization ()
void	initialize (const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace) override
	Initialize parameters using the passed Node and parameter namespace. If no initialization is needed, simply implement as empty. More...
std::string	getDescription () const override
	Get a short string that identifies the planning request adapter. More...
bool	adaptAndPlan (const PlannerFn &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &) const override
	Adapt the planning request if needed, call the planner function planner and update the planning response if needed. If the response is changed, the index values of the states added without planning are added to added_path_index. More...
Public Member Functions inherited from planning_request_adapter::PlanningRequestAdapter
	PlanningRequestAdapter ()
virtual	~PlanningRequestAdapter ()
bool	adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
bool	adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const

Protected Attributes
double	path_tolerance_
double	resample_dt_
double	min_angle_change_

Additional Inherited Members
Public Types inherited from planning_request_adapter::PlanningRequestAdapter
using	PlannerFn = std::function< bool(const planning_scene::PlanningSceneConstPtr &, const planning_interface::MotionPlanRequest &, planning_interface::MotionPlanResponse &)>
Protected Member Functions inherited from planning_request_adapter::PlanningRequestAdapter
template<typename T >
T	getParam (const rclcpp::Node::SharedPtr &node, const rclcpp::Logger &logger, const std::string &parameter_namespace, const std::string &parameter_name, T default_value={}) const
	Helper param for getting a parameter using a namespace. More...

Detailed Description

This adapter uses the time-optimal trajectory generation method.

Definition at line 48 of file add_time_optimal_parameterization.cpp.

Constructor & Destructor Documentation

AddTimeOptimalParameterization()

default_planner_request_adapters::AddTimeOptimalParameterization::AddTimeOptimalParameterization ( )

inline

Definition at line 51 of file add_time_optimal_parameterization.cpp.

Member Function Documentation

adaptAndPlan()

bool default_planner_request_adapters::AddTimeOptimalParameterization::adaptAndPlan ( const PlannerFn &  planner, const planning_scene::PlanningSceneConstPtr &  planning_scene, const planning_interface::MotionPlanRequest &  req, planning_interface::MotionPlanResponse &  res, std::vector< std::size_t > &  added_path_index  ) const

inlineoverridevirtual

Adapt the planning request if needed, call the planner function planner and update the planning response if needed. If the response is changed, the index values of the states added without planning are added to added_path_index.

Implements planning_request_adapter::PlanningRequestAdapter.

Definition at line 67 of file add_time_optimal_parameterization.cpp.

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getDescription()

std::string default_planner_request_adapters::AddTimeOptimalParameterization::getDescription ( ) const

inlineoverridevirtual

Get a short string that identifies the planning request adapter.

Reimplemented from planning_request_adapter::PlanningRequestAdapter.

Definition at line 62 of file add_time_optimal_parameterization.cpp.

initialize()

void default_planner_request_adapters::AddTimeOptimalParameterization::initialize ( const rclcpp::Node::SharedPtr &  node, const std::string &  parameter_namespace  )

inlineoverridevirtual

Initialize parameters using the passed Node and parameter namespace. If no initialization is needed, simply implement as empty.

Implements planning_request_adapter::PlanningRequestAdapter.

Definition at line 55 of file add_time_optimal_parameterization.cpp.

Member Data Documentation

min_angle_change_

double default_planner_request_adapters::AddTimeOptimalParameterization::min_angle_change_

protected

Definition at line 90 of file add_time_optimal_parameterization.cpp.

path_tolerance_

double default_planner_request_adapters::AddTimeOptimalParameterization::path_tolerance_

protected

Definition at line 88 of file add_time_optimal_parameterization.cpp.

resample_dt_

double default_planner_request_adapters::AddTimeOptimalParameterization::resample_dt_

protected

Definition at line 89 of file add_time_optimal_parameterization.cpp.

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The documentation for this class was generated from the following file:

• moveit_ros/planning/planning_request_adapter_plugins/src/add_time_optimal_parameterization.cpp