moveit::hybrid_planning::PlannerLogicInterface Class Reference

#include <planner_logic_interface.h>

Inheritance diagram for moveit::hybrid_planning::PlannerLogicInterface:

Public Member Functions
	PlannerLogicInterface ()=default
	PlannerLogicInterface (const PlannerLogicInterface &)=default
	PlannerLogicInterface (PlannerLogicInterface &&)=default
PlannerLogicInterface &	operator= (const PlannerLogicInterface &)=default
PlannerLogicInterface &	operator= (PlannerLogicInterface &&)=default
virtual	~PlannerLogicInterface ()=default
virtual bool	initialize (const std::shared_ptr< HybridPlanningManager > &hybrid_planning_manager)=0
virtual ReactionResult	react (const HybridPlanningEvent &event)=0
virtual ReactionResult	react (const std::string &event)=0

Protected Attributes
std::shared_ptr< HybridPlanningManager >	hybrid_planning_manager_ = nullptr

Detailed Description

Class PlannerLogicInterface - Base class for a planner logic. The logic defines how to react to different events that occur during hybrid planning. Events can be triggered by callback functions of the hybrid planning manager's ROS 2 interfaces or timers. They are encoded either inside an enum class or as a string to easily include custom events.

Definition at line 104 of file planner_logic_interface.h.

Constructor & Destructor Documentation

PlannerLogicInterface() [1/3]

moveit::hybrid_planning::PlannerLogicInterface::PlannerLogicInterface ( )

default

PlannerLogicInterface() [2/3]

moveit::hybrid_planning::PlannerLogicInterface::PlannerLogicInterface ( const PlannerLogicInterface &  )

default

PlannerLogicInterface() [3/3]

moveit::hybrid_planning::PlannerLogicInterface::PlannerLogicInterface ( PlannerLogicInterface &&  )

default

~PlannerLogicInterface()

virtual moveit::hybrid_planning::PlannerLogicInterface::~PlannerLogicInterface ( )

virtualdefault

Member Function Documentation

initialize()

virtual bool moveit::hybrid_planning::PlannerLogicInterface::initialize ( const std::shared_ptr< HybridPlanningManager > &  hybrid_planning_manager )

pure virtual

Initialize the planner logic

Parameters

hybrid_planning_manager

The hybrid planning manager instance to initialize this logic with.

Returns

true if initialization was successful

Implemented in moveit::hybrid_planning::SinglePlanExecution.

operator=() [1/2]

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

default

operator=() [2/2]

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

default

react() [1/2]

virtual ReactionResult moveit::hybrid_planning::PlannerLogicInterface::react ( const HybridPlanningEvent &  event )

pure virtual

React to event defined in HybridPlanningEvent enum

Parameters

event

Basic hybrid planning event

Returns

Reaction result that summarizes the outcome of the reaction

Implemented in moveit::hybrid_planning::SinglePlanExecution.

react() [2/2]

virtual ReactionResult moveit::hybrid_planning::PlannerLogicInterface::react ( const std::string &  event )

pure virtual

React to custom event

Parameters

event

Encoded as string

Returns

Reaction result that summarizes the outcome of the reaction

Implemented in moveit::hybrid_planning::SinglePlanExecution, and moveit::hybrid_planning::ReplanInvalidatedTrajectory.

Member Data Documentation

hybrid_planning_manager_

std::shared_ptr<HybridPlanningManager> moveit::hybrid_planning::PlannerLogicInterface::hybrid_planning_manager_ = nullptr

protected

Definition at line 137 of file planner_logic_interface.h.

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

• moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/planner_logic_interface.h