pilz_industrial_motion_planner::PlanComponentsBuilder Class Reference

Helper class to encapsulate the merge and blend process of trajectories. More...

#include <plan_components_builder.h>

Public Member Functions
void	setBlender (std::unique_ptr< pilz_industrial_motion_planner::TrajectoryBlender > blender)
	Sets the blender used to blend two trajectories. More...
void	setModel (const moveit::core::RobotModelConstPtr &model)
	Sets the robot model needed to create new trajectory elements. More...
void	append (const planning_scene::PlanningSceneConstPtr &planning_scene, const robot_trajectory::RobotTrajectoryPtr &other, const double blend_radius)
	Appends the specified trajectory to the trajectory container under construction. More...
void	reset ()
	Clears the trajectory container under construction. More...
std::vector< robot_trajectory::RobotTrajectoryPtr >	build () const

Detailed Description

Helper class to encapsulate the merge and blend process of trajectories.

Definition at line 63 of file plan_components_builder.h.

Member Function Documentation

append()

void pilz_industrial_motion_planner::PlanComponentsBuilder::append	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const robot_trajectory::RobotTrajectoryPtr &	other,
		const double	blend_radius
	)

Appends the specified trajectory to the trajectory container under construction.

The appending complies to the following rules:

• A trajectory is simply added/attached to the previous trajectory:
  • if they are from the same group and
  • if the specified blend_radius is zero.
• A trajectory is blended together with the previous trajectory:
  • if they are from the same group and
  • if the specified blend_radius is GREATER than zero.
• A new trajectory element is created and the given trajectory is appended/attached to the newly created empty trajectory:
  • if the given and previous trajectory are from different groups.

Parameters

planning_scene	The scene planning is occurring in.
other	Trajectories which has to be added to the trajectory container under construction.
blend_radius	The blending radius between the previous and the specified trajectory.

Definition at line 107 of file plan_components_builder.cpp.

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build()

std::vector< robot_trajectory::RobotTrajectoryPtr > pilz_industrial_motion_planner::PlanComponentsBuilder::build

(

)

const

Returns

The final trajectory container which results from the append calls.

Definition at line 43 of file plan_components_builder.cpp.

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reset()

void pilz_industrial_motion_planner::PlanComponentsBuilder::reset ( )

inline

Clears the trajectory container under construction.

Definition at line 157 of file plan_components_builder.h.

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setBlender()

void pilz_industrial_motion_planner::PlanComponentsBuilder::setBlender ( std::unique_ptr< pilz_industrial_motion_planner::TrajectoryBlender >  blender )

inline

Sets the blender used to blend two trajectories.

Definition at line 147 of file plan_components_builder.h.

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setModel()

void pilz_industrial_motion_planner::PlanComponentsBuilder::setModel ( const moveit::core::RobotModelConstPtr &  model )

inline

Sets the robot model needed to create new trajectory elements.

Definition at line 152 of file plan_components_builder.h.

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

• moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/plan_components_builder.h
• moveit_planners/pilz_industrial_motion_planner/src/plan_components_builder.cpp