#include <trajopt_planning_context.h>

Inheritance diagram for trajopt_interface::TrajOptPlanningContext:

Collaboration diagram for trajopt_interface::TrajOptPlanningContext:

Public Member Functions
	TrajOptPlanningContext (const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model)

	~TrajOptPlanningContext () override

bool	solve (planning_interface::MotionPlanResponse &res) override
	Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that. More...

bool	solve (planning_interface::MotionPlanDetailedResponse &res) override
	Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that. More...

bool	terminate () override
	If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true). More...

void	clear () override
	Clear the data structures used by the planner. More...

Public Member Functions inherited from planning_interface::PlanningContext
	PlanningContext (const std::string &name, const std::string &group)
	Construct a planning context named name for the group group. More...

virtual	~PlanningContext ()

const std::string &	getGroupName () const
	Get the name of the group this planning context is for. More...

const std::string &	getName () const
	Get the name of this planning context. More...

const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Get the planning scene associated to this planning context. More...

const MotionPlanRequest &	getMotionPlanRequest () const
	Get the motion plan request associated to this planning context. More...

void	setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
	Set the planning scene for this context. More...

void	setMotionPlanRequest (const MotionPlanRequest &request)
	Set the planning request for this context. More...

Additional Inherited Members
Protected Attributes inherited from planning_interface::PlanningContext
std::string	name_
	The name of this planning context. More...

std::string	group_
	The group (as in the SRDF) this planning context is for. More...

planning_scene::PlanningSceneConstPtr	planning_scene_
	The planning scene for this context. More...

MotionPlanRequest	request_
	The planning request for this context. More...

Detailed Description

Definition at line 12 of file trajopt_planning_context.h.

Constructor & Destructor Documentation

◆ TrajOptPlanningContext()

trajopt_interface::TrajOptPlanningContext::TrajOptPlanningContext	(	const std::string &	name,
		const std::string &	group,
		const moveit::core::RobotModelConstPtr &	model
	)

Definition at line 15 of file trajopt_planning_context.cpp.

◆ ~TrajOptPlanningContext()

trajopt_interface::TrajOptPlanningContext::~TrajOptPlanningContext ( )

inlineoverride

Definition at line 17 of file trajopt_planning_context.h.

Member Function Documentation

◆ clear()

void trajopt_interface::TrajOptPlanningContext::clear ( )

overridevirtual

Clear the data structures used by the planner.

Implements planning_interface::PlanningContext.

Definition at line 71 of file trajopt_planning_context.cpp.

◆ solve() [1/2]

bool trajopt_interface::TrajOptPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse & res )

overridevirtual

Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implements planning_interface::PlanningContext.

Definition at line 23 of file trajopt_planning_context.cpp.

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◆ solve() [2/2]

bool trajopt_interface::TrajOptPlanningContext::solve ( planning_interface::MotionPlanResponse & res )

overridevirtual

Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implements planning_interface::PlanningContext.

Definition at line 50 of file trajopt_planning_context.cpp.