moveit2
The MoveIt Motion Planning Framework for ROS 2.
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basecmd.h
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34
35#pragma once
36
37#include <string>
38
39#include "motioncmd.h"
40
42{
43template <class StartType, class GoalType>
44class BaseCmd : public MotionCmd
45{
46public:
47 BaseCmd() = default;
48 BaseCmd(const BaseCmd&) = default;
49 BaseCmd(BaseCmd&&) noexcept = default;
50 BaseCmd& operator=(const BaseCmd&) = default;
51 BaseCmd& operator=(BaseCmd&&) noexcept = default;
52 virtual ~BaseCmd() = default;
53
54public:
55 planning_interface::MotionPlanRequest toRequest() const override;
56
57 void setStartConfiguration(StartType start);
58 void setGoalConfiguration(GoalType goal);
59
61 const StartType& getStartConfiguration() const;
62
64 const GoalType& getGoalConfiguration() const;
65
66private:
67 virtual std::string getPlannerId() const = 0;
68
69protected:
70 GoalType goal_;
71 StartType start_;
72};
73
74//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
75template <class StartType, class GoalType>
76inline void BaseCmd<StartType, GoalType>::setStartConfiguration(StartType start)
77{
78 start_ = start;
79}
80
81template <class StartType, class GoalType>
83{
84 goal_ = goal;
85}
86
87template <class StartType, class GoalType>
89{
90 return start_;
91}
92
93template <class StartType, class GoalType>
95{
96 return start_;
97}
98
99template <class StartType, class GoalType>
101{
102 return goal_;
103}
104
105template <class StartType, class GoalType>
107{
108 return goal_;
109}
110
111template <class StartType, class GoalType>
113{
115 req.planner_id = getPlannerId();
116 req.group_name = planning_group_;
117
118 req.max_velocity_scaling_factor = vel_scale_;
119 req.max_acceleration_scaling_factor = acc_scale_;
120
121 req.start_state = start_.toMoveitMsgsRobotState();
122 req.goal_constraints.push_back(goal_.toGoalConstraints());
123
124 return req;
125}
126} // namespace pilz_industrial_motion_planner_testutils
planning_interface::MotionPlanRequest toRequest() const override
Definition basecmd.h:112
Base class for commands storing all general information of a command.
Definition motioncmd.h:48
This namespace includes the base class for MoveIt planners.
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest