moveit::hybrid_planning::ForwardTrajectory Class Reference

#include <forward_trajectory.h>

Inheritance diagram for moveit::hybrid_planning::ForwardTrajectory:

Collaboration diagram for moveit::hybrid_planning::ForwardTrajectory:

Public Member Functions
	ForwardTrajectory ()=default
	~ForwardTrajectory () override=default
bool	initialize (const rclcpp::Node::SharedPtr &node, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const std::string &) override
bool	reset () override
moveit_msgs::action::LocalPlanner::Feedback	solve (const robot_trajectory::RobotTrajectory &local_trajectory, const std::shared_ptr< const moveit_msgs::action::LocalPlanner::Goal >, trajectory_msgs::msg::JointTrajectory &local_solution) override
Public Member Functions inherited from moveit::hybrid_planning::LocalConstraintSolverInterface
	LocalConstraintSolverInterface ()=default
	LocalConstraintSolverInterface (const LocalConstraintSolverInterface &)=default
	LocalConstraintSolverInterface (LocalConstraintSolverInterface &&)=default
LocalConstraintSolverInterface &	operator= (const LocalConstraintSolverInterface &)=default
LocalConstraintSolverInterface &	operator= (LocalConstraintSolverInterface &&)=default
virtual	~LocalConstraintSolverInterface ()=default

Detailed Description

Definition at line 48 of file forward_trajectory.h.

Constructor & Destructor Documentation

ForwardTrajectory()

moveit::hybrid_planning::ForwardTrajectory::ForwardTrajectory ( )

default

~ForwardTrajectory()

moveit::hybrid_planning::ForwardTrajectory::~ForwardTrajectory ( )

overridedefault

Member Function Documentation

initialize()

bool moveit::hybrid_planning::ForwardTrajectory::initialize ( const rclcpp::Node::SharedPtr &  node, const planning_scene_monitor::PlanningSceneMonitorPtr &  planning_scene_monitor, const std::string &  group_name  )

overridevirtual

Initialize local constraint solver

Returns

True if initialization was successful

Implements moveit::hybrid_planning::LocalConstraintSolverInterface.

Definition at line 50 of file forward_trajectory.cpp.

reset()

bool moveit::hybrid_planning::ForwardTrajectory::reset ( )

overridevirtual

Reset local constraint solver to some user-defined initial state

Returns

True if reset was successful

Implements moveit::hybrid_planning::LocalConstraintSolverInterface.

Definition at line 66 of file forward_trajectory.cpp.

solve()

moveit_msgs::action::LocalPlanner::Feedback moveit::hybrid_planning::ForwardTrajectory::solve ( const robot_trajectory::RobotTrajectory &  local_trajectory, const std::shared_ptr< const moveit_msgs::action::LocalPlanner::Goal >  local_goal, trajectory_msgs::msg::JointTrajectory &  local_solution  )

overridevirtual

Solve local planning problem for the current iteration

Parameters

local_trajectory	The local trajectory to pursue
local_goal	Local goal constraints
local_solution	solution plan in joint space

Returns

Feedback event from the current solver call i.e. "Collision detected"

Implements moveit::hybrid_planning::LocalConstraintSolverInterface.

Definition at line 75 of file forward_trajectory.cpp.

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

• moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/include/moveit/local_constraint_solver_plugins/forward_trajectory.h
• moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp