#include <constrained_planning_state_space_factory.h>

Inheritance diagram for ompl_interface::ConstrainedPlanningStateSpaceFactory:

Collaboration diagram for ompl_interface::ConstrainedPlanningStateSpaceFactory:

Public Member Functions
	ConstrainedPlanningStateSpaceFactory ()

int	canRepresentProblem (const std::string &group, const moveit_msgs::msg::MotionPlanRequest &req, const moveit::core::RobotModelConstPtr &robot_model) const override
	Return a priority that this planner should be used for this specific planning problem. More...

Public Member Functions inherited from ompl_interface::ModelBasedStateSpaceFactory
	ModelBasedStateSpaceFactory ()

virtual	~ModelBasedStateSpaceFactory ()

ModelBasedStateSpacePtr	getNewStateSpace (const ModelBasedStateSpaceSpecification &space_spec) const

const std::string &	getType () const

Protected Member Functions
ModelBasedStateSpacePtr	allocStateSpace (const ModelBasedStateSpaceSpecification &space_spec) const override

Additional Inherited Members
Protected Attributes inherited from ompl_interface::ModelBasedStateSpaceFactory
std::string	type_

Detailed Description

Definition at line 44 of file constrained_planning_state_space_factory.h.

Constructor & Destructor Documentation

◆ ConstrainedPlanningStateSpaceFactory()

ompl_interface::ConstrainedPlanningStateSpaceFactory::ConstrainedPlanningStateSpaceFactory ( )

Definition at line 43 of file constrained_planning_state_space_factory.cpp.

Member Function Documentation

◆ allocStateSpace()

ModelBasedStateSpacePtr ompl_interface::ConstrainedPlanningStateSpaceFactory::allocStateSpace ( const ModelBasedStateSpaceSpecification & space_spec ) const

overrideprotectedvirtual

Implements ompl_interface::ModelBasedStateSpaceFactory.

Definition at line 58 of file constrained_planning_state_space_factory.cpp.

◆ canRepresentProblem()

int ompl_interface::ConstrainedPlanningStateSpaceFactory::canRepresentProblem	(	const std::string &	group,
		const moveit_msgs::msg::MotionPlanRequest &	req,
		const moveit::core::RobotModelConstPtr &	robot_model
	)		const

overridevirtual

Return a priority that this planner should be used for this specific planning problem.

This state space factory is currently only used if use_ompl_constrained_state_space was set to true in ompl_planning.yaml. In that case it is the only factory to choose from, so the priority does not matter. It returns a low priority so it will never be chosen when others are available. (The second lowest priority is -1 in the PoseModelStateSpaceFactory.)

For more details on this state space selection process, see: https://github.com/JeroenDM/moveit/pull/2

Implements ompl_interface::ModelBasedStateSpaceFactory.

Definition at line 48 of file constrained_planning_state_space_factory.cpp.

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

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space_factory.h
moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/constrained_planning_state_space_factory.cpp

Public Member Functions