moveit2
The MoveIt Motion Planning Framework for ROS 2.
planning_context_loader_circ.cpp
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34 
35 #include <rclcpp/logger.hpp>
36 #include <rclcpp/logging.hpp>
37 
42 
43 #include <pluginlib/class_list_macros.hpp>
44 
45 namespace
46 {
47 static const rclcpp::Logger LOGGER =
48  rclcpp::get_logger("moveit.pilz_industrial_motion_planner.planning_context_loader_circ");
49 }
50 
52 {
53  alg_ = "CIRC";
54 }
55 
57 {
58 }
59 
61  planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
62 {
63  if (limits_set_ && model_set_)
64  {
65  planning_context = std::make_shared<PlanningContextCIRC>(name, group, model_, limits_);
66  return true;
67  }
68  else
69  {
70  if (!limits_set_)
71  {
72  RCLCPP_ERROR_STREAM(LOGGER, "Limits are not defined. Cannot load planning context. Call setLimits loadContext");
73  }
74  if (!model_set_)
75  {
76  RCLCPP_ERROR_STREAM(LOGGER, "Robot model was not set");
77  }
78  return false;
79  }
80 }
81 
PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< kdl_kinematics_plugin::KDLKinematicsPlugin >, kinematics::KinematicsBase)
Plugin that can generate instances of PlanningContextCIRC. Generates instances of PlanningContextLIN.
bool loadContext(planning_interface::PlanningContextPtr &planning_context, const std::string &name, const std::string &group) const override
return a instance of pilz_industrial_motion_planner::PlanningContextCIRC
Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ...
name
Definition: setup.py:7
const rclcpp::Logger LOGGER
Definition: async_test.h:31