pilz_industrial_motion_planner::PlanningContextLoader Class Reference

Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ctor, classes derived from it can not be plugins. This class serves as base class for wrappers. More...

#include <planning_context_loader.h>

Inheritance diagram for pilz_industrial_motion_planner::PlanningContextLoader:

Collaboration diagram for pilz_industrial_motion_planner::PlanningContextLoader:

Public Member Functions
	PlanningContextLoader ()
virtual	~PlanningContextLoader ()
virtual std::string	getAlgorithm () const
	Return the algorithm the loader uses. More...
virtual bool	setModel (const moveit::core::RobotModelConstPtr &model)
	Sets the robot model that can be passed to the planning context. More...
virtual bool	setLimits (const pilz_industrial_motion_planner::LimitsContainer &limits)
	Sets limits the planner can pass to the contexts. More...
virtual bool	loadContext (planning_interface::PlanningContextPtr &planning_context, const std::string &name, const std::string &group) const =0
	Return the planning context. More...

Protected Member Functions
template<typename T >
bool	loadContext (planning_interface::PlanningContextPtr &planning_context, const std::string &name, const std::string &group) const
	Return the planning context of type T. More...

Protected Attributes
std::string	alg_
	Name of the algorithm. More...
bool	limits_set_
	True if limits are set. More...
pilz_industrial_motion_planner::LimitsContainer	limits_
	Limits to be used during planning. More...
bool	model_set_
	True if model is set. More...
moveit::core::RobotModelConstPtr	model_
	The robot model. More...

Detailed Description

Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ctor, classes derived from it can not be plugins. This class serves as base class for wrappers.

Definition at line 54 of file planning_context_loader.h.

Constructor & Destructor Documentation

PlanningContextLoader()

pilz_industrial_motion_planner::PlanningContextLoader::PlanningContextLoader

(

)

Definition at line 37 of file planning_context_loader.cpp.

~PlanningContextLoader()

pilz_industrial_motion_planner::PlanningContextLoader::~PlanningContextLoader ( )

virtual

Definition at line 41 of file planning_context_loader.cpp.

Member Function Documentation

getAlgorithm()

std::string pilz_industrial_motion_planner::PlanningContextLoader::getAlgorithm ( ) const

virtual

Return the algorithm the loader uses.

Definition at line 60 of file planning_context_loader.cpp.

loadContext() [1/2]

template<typename T >

bool pilz_industrial_motion_planner::PlanningContextLoader::loadContext ( planning_interface::PlanningContextPtr &  planning_context, const std::string &  name, const std::string &  group  ) const

protected

Return the planning context of type T.

Parameters

planning_context
name	context name
group	name of the planning group

Returns

true on success, false otherwise

Definition at line 121 of file planning_context_loader.h.

loadContext() [2/2]

virtual bool pilz_industrial_motion_planner::PlanningContextLoader::loadContext ( planning_interface::PlanningContextPtr &  planning_context, const std::string &  name, const std::string &  group  ) const

pure virtual

Return the planning context.

Parameters

planning_context
name	context name
group	name of the planning group

Returns

true on success, false otherwise

Implemented in pilz_industrial_motion_planner::PlanningContextLoaderPTP, pilz_industrial_motion_planner::PlanningContextLoaderLIN, and pilz_industrial_motion_planner::PlanningContextLoaderCIRC.

setLimits()

bool pilz_industrial_motion_planner::PlanningContextLoader::setLimits ( const pilz_industrial_motion_planner::LimitsContainer &  limits )

virtual

Sets limits the planner can pass to the contexts.

Parameters

limits

container of limits, no guarantee to contain the limits for all joints of the model

Returns

true if limits could be set

Definition at line 52 of file planning_context_loader.cpp.

setModel()

bool pilz_industrial_motion_planner::PlanningContextLoader::setModel ( const moveit::core::RobotModelConstPtr &  model )

virtual

Sets the robot model that can be passed to the planning context.

Parameters

model

The robot model

Returns

false if could not be set

Definition at line 45 of file planning_context_loader.cpp.

Member Data Documentation

alg_

std::string pilz_industrial_motion_planner::PlanningContextLoader::alg_

protected

Name of the algorithm.

Definition at line 102 of file planning_context_loader.h.

limits_

pilz_industrial_motion_planner::LimitsContainer pilz_industrial_motion_planner::PlanningContextLoader::limits_

protected

Limits to be used during planning.

Definition at line 108 of file planning_context_loader.h.

limits_set_

bool pilz_industrial_motion_planner::PlanningContextLoader::limits_set_

protected

True if limits are set.

Definition at line 105 of file planning_context_loader.h.

model_

moveit::core::RobotModelConstPtr pilz_industrial_motion_planner::PlanningContextLoader::model_

protected

The robot model.

Definition at line 114 of file planning_context_loader.h.

model_set_

bool pilz_industrial_motion_planner::PlanningContextLoader::model_set_

protected

True if model is set.

Definition at line 111 of file planning_context_loader.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/planning_context_loader.h
• moveit_planners/pilz_industrial_motion_planner/src/planning_context_loader.cpp