moveit2
The MoveIt Motion Planning Framework for ROS 2.
planning_context_loader_ptp.cpp
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34 
38 
39 #include <pluginlib/class_list_macros.hpp>
40 
41 namespace
42 {
43 static const rclcpp::Logger LOGGER =
44  rclcpp::get_logger("moveit.pilz_industrial_motion_planner.planning_context_loader_ptp");
45 }
46 
48 {
49  alg_ = "PTP";
50 }
51 
53 {
54 }
55 
57  planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
58 {
59  if (limits_set_ && model_set_)
60  {
61  planning_context = std::make_shared<PlanningContextPTP>(name, group, model_, limits_);
62  return true;
63  }
64  else
65  {
66  if (!limits_set_)
67  {
68  RCLCPP_ERROR_STREAM(LOGGER,
69  "Joint Limits are not defined. Cannot load planning context. Call setLimits loadContext");
70  }
71  if (!model_set_)
72  {
73  RCLCPP_ERROR_STREAM(LOGGER, "Robot model was not set");
74  }
75  return false;
76  }
77 }
78 
PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< kdl_kinematics_plugin::KDLKinematicsPlugin >, kinematics::KinematicsBase)
Plugin that can generate instances of PlanningContextPTP. Generates instances of PlanningContextPTP.
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::PlanningContextPTP
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