moveit2
The MoveIt Motion Planning Framework for ROS 2.
model_based_state_space_factory.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
41 #include <moveit_msgs/msg/motion_plan_request.hpp>
42 
43 namespace ompl_interface
44 {
45 MOVEIT_CLASS_FORWARD(ModelBasedStateSpaceFactory); // Defines ModelBasedStateSpaceFactoryPtr, ConstPtr, WeakPtr... etc
46 
48 {
49 public:
51  {
52  }
53 
55  {
56  }
57 
58  ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const;
59 
60  const std::string& getType() const
61  {
62  return type_;
63  }
64 
69  virtual int canRepresentProblem(const std::string& group, const moveit_msgs::msg::MotionPlanRequest& req,
70  const moveit::core::RobotModelConstPtr& robot_model) const = 0;
71 
72 protected:
73  virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const = 0;
74  std::string type_;
75 };
76 } // namespace ompl_interface
ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const
virtual int canRepresentProblem(const std::string &group, const moveit_msgs::msg::MotionPlanRequest &req, const moveit::core::RobotModelConstPtr &robot_model) const =0
Decide whether the type of state space constructed by this factory could represent problems specified...
virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const =0
The MoveIt interface to OMPL.
MOVEIT_CLASS_FORWARD(ValidStateSampler)
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest