moveit::hybrid_planning::GlobalPlannerInterface Class Reference

#include <global_planner_interface.h>

Inheritance diagram for moveit::hybrid_planning::GlobalPlannerInterface:

Public Member Functions
	GlobalPlannerInterface ()=default
	GlobalPlannerInterface (const GlobalPlannerInterface &)=default
	GlobalPlannerInterface (GlobalPlannerInterface &&)=default
GlobalPlannerInterface &	operator= (const GlobalPlannerInterface &)=default
GlobalPlannerInterface &	operator= (GlobalPlannerInterface &&)=default
virtual	~GlobalPlannerInterface ()=default
virtual bool	initialize (const rclcpp::Node::SharedPtr &node)=0
virtual moveit_msgs::msg::MotionPlanResponse	plan (const std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::GlobalPlanner >> global_goal_handle)=0
virtual bool	reset () noexcept=0

Detailed Description

Class GlobalPlannerInterface - Base class for a global planner implementation

Definition at line 55 of file global_planner_interface.h.

Constructor & Destructor Documentation

GlobalPlannerInterface() [1/3]

moveit::hybrid_planning::GlobalPlannerInterface::GlobalPlannerInterface ( )

default

GlobalPlannerInterface() [2/3]

moveit::hybrid_planning::GlobalPlannerInterface::GlobalPlannerInterface ( const GlobalPlannerInterface &  )

default

GlobalPlannerInterface() [3/3]

moveit::hybrid_planning::GlobalPlannerInterface::GlobalPlannerInterface ( GlobalPlannerInterface &&  )

default

~GlobalPlannerInterface()

virtual moveit::hybrid_planning::GlobalPlannerInterface::~GlobalPlannerInterface ( )

virtualdefault

Member Function Documentation

initialize()

virtual bool moveit::hybrid_planning::GlobalPlannerInterface::initialize ( const rclcpp::Node::SharedPtr &  node )

pure virtual

Initialize global planner

Returns

True if initialization was successful

Implemented in moveit::hybrid_planning::MoveItPlanningPipeline.

operator=() [1/2]

GlobalPlannerInterface& moveit::hybrid_planning::GlobalPlannerInterface::operator= ( const GlobalPlannerInterface &  )

default

operator=() [2/2]

GlobalPlannerInterface& moveit::hybrid_planning::GlobalPlannerInterface::operator= ( GlobalPlannerInterface &&  )

default

plan()

virtual moveit_msgs::msg::MotionPlanResponse moveit::hybrid_planning::GlobalPlannerInterface::plan ( const std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::GlobalPlanner >>  global_goal_handle )

pure virtual

Solve global planning problem

Parameters

global_goal_handle

Action goal handle to access the planning goal and publish feedback during planning

Returns

Motion Plan that contains the solution for a given motion planning problem

Implemented in moveit::hybrid_planning::MoveItPlanningPipeline.

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reset()

virtual bool moveit::hybrid_planning::GlobalPlannerInterface::reset ( )

pure virtualnoexcept

Reset global planner plugin. This should never fail.

Returns

True if reset was successful

Implemented in moveit::hybrid_planning::MoveItPlanningPipeline.

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

• moveit_ros/hybrid_planning/global_planner/global_planner_component/include/moveit/global_planner/global_planner_interface.h