moveit2
The MoveIt Motion Planning Framework for ROS 2.
constrained_planning_state_space_factory.cpp
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34 
35 /* Author: Jeroen De Maeyer */
36 /* Mostly copied from Ioan Sucan's code */
37 
40 
41 namespace ompl_interface
42 {
44 {
46 }
47 
49  const std::string& /*group*/, const moveit_msgs::msg::MotionPlanRequest& /*req*/,
50  const moveit::core::RobotModelConstPtr& /*robot_model*/) const
51 {
52  // Return the lowest priority currently existing in the ompl interface.
53  // This state space will only be selected if it is the only option to choose from.
54  // See header file for more info.
55  return -2;
56 }
57 
59  const ModelBasedStateSpaceSpecification& space_spec) const
60 {
61  return std::make_shared<ConstrainedPlanningStateSpace>(space_spec);
62 }
63 } // namespace ompl_interface
ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const override
int canRepresentProblem(const std::string &group, const moveit_msgs::msg::MotionPlanRequest &req, const moveit::core::RobotModelConstPtr &robot_model) const override
Return a priority that this planner should be used for this specific planning problem.
The MoveIt interface to OMPL.
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest