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The MoveIt Motion Planning Framework for ROS 2.
Public Types | Public Member Functions | Protected Member Functions | List of all members
planning_request_adapter::PlanningRequestAdapter Class Referenceabstract

#include <planning_request_adapter.h>

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Public Types

using PlannerFn = std::function< bool(const planning_scene::PlanningSceneConstPtr &, const planning_interface::MotionPlanRequest &, planning_interface::MotionPlanResponse &)>
 

Public Member Functions

 PlanningRequestAdapter ()
 
virtual ~PlanningRequestAdapter ()
 
virtual void initialize (const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)=0
 Initialize parameters using the passed Node and parameter namespace. If no initialization is needed, simply implement as empty. More...
 
virtual std::string getDescription () const
 Get a short string that identifies the planning request adapter. More...
 
bool adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
 
bool adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const
 
virtual bool adaptAndPlan (const PlannerFn &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const =0
 Adapt the planning request if needed, call the planner function planner and update the planning response if needed. If the response is changed, the index values of the states added without planning are added to added_path_index. More...
 

Protected Member Functions

template<typename T >
T getParam (const rclcpp::Node::SharedPtr &node, const rclcpp::Logger &logger, const std::string &parameter_namespace, const std::string &parameter_name, T default_value={}) const
 Helper param for getting a parameter using a namespace. More...
 

Detailed Description

Definition at line 51 of file planning_request_adapter.h.

Member Typedef Documentation

◆ PlannerFn

using planning_request_adapter::PlanningRequestAdapter::PlannerFn = std::function<bool(const planning_scene::PlanningSceneConstPtr&, const planning_interface::MotionPlanRequest&, planning_interface::MotionPlanResponse&)>

Definition at line 54 of file planning_request_adapter.h.

Constructor & Destructor Documentation

◆ PlanningRequestAdapter()

planning_request_adapter::PlanningRequestAdapter::PlanningRequestAdapter ( )
inline

Definition at line 58 of file planning_request_adapter.h.

◆ ~PlanningRequestAdapter()

virtual planning_request_adapter::PlanningRequestAdapter::~PlanningRequestAdapter ( )
inlinevirtual

Definition at line 62 of file planning_request_adapter.h.

Member Function Documentation

◆ adaptAndPlan() [1/3]

virtual bool planning_request_adapter::PlanningRequestAdapter::adaptAndPlan ( const PlannerFn &  planner,
const planning_scene::PlanningSceneConstPtr &  planning_scene,
const planning_interface::MotionPlanRequest &  req,
planning_interface::MotionPlanResponse &  res,
std::vector< std::size_t > &  added_path_index 
) const
pure virtual

Adapt the planning request if needed, call the planner function planner and update the planning response if needed. If the response is changed, the index values of the states added without planning are added to added_path_index.

Implemented in chomp::OptimizerAdapter, default_planner_request_adapters::FixStartStatePathConstraints, default_planner_request_adapters::FixStartStateCollision, default_planner_request_adapters::FixStartStateBounds, default_planner_request_adapters::ResolveConstraintFrames, default_planner_request_adapters::FixWorkspaceBounds, default_planner_request_adapters::Empty, default_planner_request_adapters::AddTimeParameterization, default_planner_request_adapters::AddTimeOptimalParameterization, default_planner_request_adapters::AddRuckigTrajectorySmoothing, and default_planner_request_adapters::AddIterativeSplineParameterization.

◆ adaptAndPlan() [2/3]

bool planning_request_adapter::PlanningRequestAdapter::adaptAndPlan ( const planning_interface::PlannerManagerPtr &  planner,
const planning_scene::PlanningSceneConstPtr &  planning_scene,
const planning_interface::MotionPlanRequest &  req,
planning_interface::MotionPlanResponse &  res 
) const

Definition at line 94 of file planning_request_adapter.cpp.

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◆ adaptAndPlan() [3/3]

bool planning_request_adapter::PlanningRequestAdapter::adaptAndPlan ( const planning_interface::PlannerManagerPtr &  planner,
const planning_scene::PlanningSceneConstPtr &  planning_scene,
const planning_interface::MotionPlanRequest &  req,
planning_interface::MotionPlanResponse &  res,
std::vector< std::size_t > &  added_path_index 
) const

Definition at line 80 of file planning_request_adapter.cpp.

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◆ getDescription()

virtual std::string planning_request_adapter::PlanningRequestAdapter::getDescription ( ) const
inlinevirtual

Get a short string that identifies the planning request adapter.

Reimplemented in default_planner_request_adapters::ResolveConstraintFrames, default_planner_request_adapters::FixWorkspaceBounds, default_planner_request_adapters::FixStartStatePathConstraints, default_planner_request_adapters::FixStartStateCollision, default_planner_request_adapters::FixStartStateBounds, default_planner_request_adapters::Empty, default_planner_request_adapters::AddTimeParameterization, default_planner_request_adapters::AddTimeOptimalParameterization, default_planner_request_adapters::AddRuckigTrajectorySmoothing, default_planner_request_adapters::AddIterativeSplineParameterization, and chomp::OptimizerAdapter.

Definition at line 71 of file planning_request_adapter.h.

◆ getParam()

template<typename T >
T planning_request_adapter::PlanningRequestAdapter::getParam ( const rclcpp::Node::SharedPtr &  node,
const rclcpp::Logger &  logger,
const std::string &  parameter_namespace,
const std::string &  parameter_name,
T  default_value = {} 
) const
inlineprotected

Helper param for getting a parameter using a namespace.

Definition at line 99 of file planning_request_adapter.h.

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◆ initialize()

virtual void planning_request_adapter::PlanningRequestAdapter::initialize ( const rclcpp::Node::SharedPtr &  node,
const std::string &  parameter_namespace 
)
pure virtual

Initialize parameters using the passed Node and parameter namespace. If no initialization is needed, simply implement as empty.

Implemented in default_planner_request_adapters::FixWorkspaceBounds, default_planner_request_adapters::FixStartStateCollision, default_planner_request_adapters::FixStartStateBounds, default_planner_request_adapters::AddTimeOptimalParameterization, chomp::OptimizerAdapter, default_planner_request_adapters::ResolveConstraintFrames, default_planner_request_adapters::FixStartStatePathConstraints, default_planner_request_adapters::Empty, default_planner_request_adapters::AddTimeParameterization, default_planner_request_adapters::AddRuckigTrajectorySmoothing, and default_planner_request_adapters::AddIterativeSplineParameterization.

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