moveit::hybrid_planning::MoveItPlanningPipeline Class Reference

#include <moveit_planning_pipeline.h>

Inheritance diagram for moveit::hybrid_planning::MoveItPlanningPipeline:

Collaboration diagram for moveit::hybrid_planning::MoveItPlanningPipeline:

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

Detailed Description

Definition at line 49 of file moveit_planning_pipeline.h.

Constructor & Destructor Documentation

MoveItPlanningPipeline()

moveit::hybrid_planning::MoveItPlanningPipeline::MoveItPlanningPipeline ( )

default

~MoveItPlanningPipeline()

moveit::hybrid_planning::MoveItPlanningPipeline::~MoveItPlanningPipeline ( )

overridedefault

Member Function Documentation

initialize()

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

overridevirtual

Initialize global planner

Returns

True if initialization was successful

Implements moveit::hybrid_planning::GlobalPlannerInterface.

Definition at line 51 of file moveit_planning_pipeline.cpp.

plan()

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

overridevirtual

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

Implements moveit::hybrid_planning::GlobalPlannerInterface.

Definition at line 97 of file moveit_planning_pipeline.cpp.

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reset()

bool moveit::hybrid_planning::MoveItPlanningPipeline::reset ( )

overridevirtualnoexcept

Reset global planner plugin. This should never fail.

Returns

True if reset was successful

Implements moveit::hybrid_planning::GlobalPlannerInterface.

Definition at line 91 of file moveit_planning_pipeline.cpp.

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

• moveit_ros/hybrid_planning/global_planner/global_planner_plugins/include/moveit/global_planner/moveit_planning_pipeline.h
• moveit_ros/hybrid_planning/global_planner/global_planner_plugins/src/moveit_planning_pipeline.cpp