default_planner_request_adapters::FixStartStateCollision Class Reference

Inheritance diagram for default_planner_request_adapters::FixStartStateCollision:

Collaboration diagram for default_planner_request_adapters::FixStartStateCollision:

Public Member Functions
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 > &added_path_index) 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

Static Public Attributes
static const std::string	DT_PARAM_NAME = "start_state_max_dt"
static const std::string	JIGGLE_PARAM_NAME = "jiggle_fraction"
static const std::string	ATTEMPTS_PARAM_NAME = "max_sampling_attempts"

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

Definition at line 50 of file fix_start_state_collision.cpp.

Member Function Documentation

adaptAndPlan()

bool default_planner_request_adapters::FixStartStateCollision::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 75 of file fix_start_state_collision.cpp.

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getDescription()

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

inlineoverridevirtual

Get a short string that identifies the planning request adapter.

Reimplemented from planning_request_adapter::PlanningRequestAdapter.

Definition at line 70 of file fix_start_state_collision.cpp.

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initialize()

void default_planner_request_adapters::FixStartStateCollision::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 57 of file fix_start_state_collision.cpp.

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Member Data Documentation

ATTEMPTS_PARAM_NAME

const std::string default_planner_request_adapters::FixStartStateCollision::ATTEMPTS_PARAM_NAME = "max_sampling_attempts"

static

Definition at line 55 of file fix_start_state_collision.cpp.

DT_PARAM_NAME

const std::string default_planner_request_adapters::FixStartStateCollision::DT_PARAM_NAME = "start_state_max_dt"

static

Definition at line 53 of file fix_start_state_collision.cpp.

JIGGLE_PARAM_NAME

const std::string default_planner_request_adapters::FixStartStateCollision::JIGGLE_PARAM_NAME = "jiggle_fraction"

static

Definition at line 54 of file fix_start_state_collision.cpp.

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

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