Inheritance diagram for trajopt_interface::TrajOptPlannerManager:

Collaboration diagram for trajopt_interface::TrajOptPlannerManager:

Public Member Functions
	TrajOptPlannerManager ()

bool	initialize (const moveit::core::RobotModelConstPtr &model, const std::string &ns) override

bool	canServiceRequest (const moveit_msgs::MotionPlanRequest &req) const override

std::string	getDescription () const override
	Get. More...

void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
	Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request) More...

planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const override

Public Member Functions inherited from planning_interface::PlannerManager
	PlannerManager ()

virtual	~PlannerManager ()

virtual bool	initialize (const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)

virtual PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req, moveit_msgs::msg::MoveItErrorCodes &error_code) const =0
	Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed. More...

PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const
	Calls the function above but ignores the error_code. More...

virtual bool	canServiceRequest (const MotionPlanRequest &req) const =0
	Determine whether this plugin instance is able to represent this planning request. More...

virtual void	setPlannerConfigurations (const PlannerConfigurationMap &pcs)=0
	Specify the settings to be used for specific algorithms. More...

const PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the settings for a specific algorithm. More...

void	terminate () const
	Request termination, if a solve() function is currently computing plans. More...

Protected Attributes
std::map< std::string, TrajOptPlanningContextPtr >	planning_contexts_

Protected Attributes inherited from planning_interface::PlannerManager
PlannerConfigurationMap	config_settings_
	All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used. More...

Detailed Description

Definition at line 49 of file trajopt_planner_manager.cpp.

Constructor & Destructor Documentation

◆ TrajOptPlannerManager()

trajopt_interface::TrajOptPlannerManager::TrajOptPlannerManager ( )

inline

Definition at line 52 of file trajopt_planner_manager.cpp.

Member Function Documentation

◆ canServiceRequest()

bool trajopt_interface::TrajOptPlannerManager::canServiceRequest ( const moveit_msgs::MotionPlanRequest & req ) const

inlineoverride

Definition at line 74 of file trajopt_planner_manager.cpp.

◆ getDescription()

std::string trajopt_interface::TrajOptPlannerManager::getDescription ( ) const

inlineoverridevirtual

Get.

a short string that identifies the planning interface

Reimplemented from planning_interface::PlannerManager.

Definition at line 79 of file trajopt_planner_manager.cpp.

◆ getPlanningAlgorithms()

void trajopt_interface::TrajOptPlannerManager::getPlanningAlgorithms ( std::vector< std::string > & algs ) const

inlineoverridevirtual

Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request)

Reimplemented from planning_interface::PlannerManager.

Definition at line 84 of file trajopt_planner_manager.cpp.

◆ getPlanningContext()

planning_interface::PlanningContextPtr trajopt_interface::TrajOptPlannerManager::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const

inlineoverride

Definition at line 90 of file trajopt_planner_manager.cpp.

Here is the call graph for this function:

◆ initialize()

bool trajopt_interface::TrajOptPlannerManager::initialize	(	const moveit::core::RobotModelConstPtr &	model,
		const std::string &	ns
	)

inlineoverride

Definition at line 56 of file trajopt_planner_manager.cpp.

Member Data Documentation

◆ planning_contexts_

std::map<std::string, TrajOptPlanningContextPtr> trajopt_interface::TrajOptPlannerManager::planning_contexts_

protected

Definition at line 134 of file trajopt_planner_manager.cpp.

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

moveit_planners/trajopt/src/trajopt_planner_manager.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrajOptPlannerManager()

Member Function Documentation

◆ canServiceRequest()

◆ getDescription()

◆ getPlanningAlgorithms()

◆ getPlanningContext()

◆ initialize()

Member Data Documentation

◆ planning_contexts_