moveit::hybrid_planning::HybridPlanningManager Class Reference

#include <hybrid_planning_manager.h>

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Public Member Functions
	HybridPlanningManager (const rclcpp::NodeOptions &options)
	Constructor. More...
	~HybridPlanningManager () override
	Destructor. More...
std::shared_ptr< HybridPlanningManager >	shared_from_this ()
bool	initialize ()
void	cancelHybridManagerGoals () noexcept
void	executeHybridPlannerGoal (std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::HybridPlanner >> goal_handle)
bool	sendGlobalPlannerAction ()
bool	sendLocalPlannerAction ()
void	sendHybridPlanningResponse (bool success)

Detailed Description

Class HybridPlanningManager - ROS 2 component node that implements the hybrid planning manager.

Definition at line 57 of file hybrid_planning_manager.h.

Constructor & Destructor Documentation

HybridPlanningManager()

moveit::hybrid_planning::HybridPlanningManager::HybridPlanningManager

(

const rclcpp::NodeOptions &

options

)

Constructor.

Definition at line 47 of file hybrid_planning_manager.cpp.

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~HybridPlanningManager()

moveit::hybrid_planning::HybridPlanningManager::~HybridPlanningManager ( )

inlineoverride

Destructor.

Definition at line 64 of file hybrid_planning_manager.h.

Member Function Documentation

cancelHybridManagerGoals()

void moveit::hybrid_planning::HybridPlanningManager::cancelHybridManagerGoals ( )

noexcept

Cancel any active action goals, including global and local planners

Definition at line 192 of file hybrid_planning_manager.cpp.

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executeHybridPlannerGoal()

void moveit::hybrid_planning::HybridPlanningManager::executeHybridPlannerGoal

(

std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::HybridPlanner >>

goal_handle

)

This handles execution of a hybrid planning goal in a new thread, to avoid blocking the executor.

Parameters

goal_handle

The action server goal

Definition at line 206 of file hybrid_planning_manager.cpp.

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initialize()

bool moveit::hybrid_planning::HybridPlanningManager::initialize

(

)

Load and initialized planner logic plugin and ROS 2 action and topic interfaces

Returns

Initialization successful yes/no

Definition at line 70 of file hybrid_planning_manager.cpp.

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sendGlobalPlannerAction()

bool moveit::hybrid_planning::HybridPlanningManager::sendGlobalPlannerAction

(

)

Send global planning request to global planner component

Returns

Global planner successfully started yes/no

Definition at line 228 of file hybrid_planning_manager.cpp.

sendHybridPlanningResponse()

void moveit::hybrid_planning::HybridPlanningManager::sendHybridPlanningResponse

(

bool

success

)

Send back hybrid planning response

Parameters

success

Indicates whether hybrid planning was successful

Definition at line 378 of file hybrid_planning_manager.cpp.

sendLocalPlannerAction()

bool moveit::hybrid_planning::HybridPlanningManager::sendLocalPlannerAction

(

)

Send local planning request to local planner component

Returns

Local planner successfully started yes/no

Definition at line 295 of file hybrid_planning_manager.cpp.

shared_from_this()

std::shared_ptr<HybridPlanningManager> moveit::hybrid_planning::HybridPlanningManager::shared_from_this ( )

inline

Allows creation of a smart pointer that references to instances of this object

Returns

shared pointer of the HybridPlanningManager instance that called the function

Definition at line 77 of file hybrid_planning_manager.h.

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

• moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/hybrid_planning_manager.h
• moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp