moveit::hybrid_planning::LocalPlannerComponent Class Reference

#include <local_planner_component.h>

Classes
struct	LocalPlannerConfig
	Struct that contains configuration of the local planner component node. More...

Public Member Functions
	LocalPlannerComponent (const rclcpp::NodeOptions &options)
	Constructor. More...
	~LocalPlannerComponent ()
	Destructor. More...
bool	initialize ()
void	executeIteration ()
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()

Detailed Description

Class LocalPlannerComponent - ROS 2 component node that implements a local planner.

Definition at line 100 of file local_planner_component.h.

Constructor & Destructor Documentation

LocalPlannerComponent()

moveit::hybrid_planning::LocalPlannerComponent::LocalPlannerComponent

(

const rclcpp::NodeOptions &

options

)

Constructor.

Definition at line 57 of file local_planner_component.cpp.

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~LocalPlannerComponent()

moveit::hybrid_planning::LocalPlannerComponent::~LocalPlannerComponent ( )

inline

Destructor.

Definition at line 149 of file local_planner_component.h.

Member Function Documentation

executeIteration()

void moveit::hybrid_planning::LocalPlannerComponent::executeIteration

(

)

Handle the planners current job based on the internal state each iteration when the planner is started.

Definition at line 245 of file local_planner_component.cpp.

get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr moveit::hybrid_planning::LocalPlannerComponent::get_node_base_interface ( )

inline

Definition at line 173 of file local_planner_component.h.

initialize()

bool moveit::hybrid_planning::LocalPlannerComponent::initialize

(

)

Initialize and start planning scene monitor to listen to the planning scene topic. Load trajectory_operator and constraint solver plugin. Initialize ROS 2 interfaces

Returns

true if scene monitor and plugins are successfully initialized

Definition at line 69 of file local_planner_component.cpp.

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

• moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_planner_component.h
• moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp