moveit2
The MoveIt Motion Planning Framework for ROS 2.
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chomp_planning_context.cpp
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34
35/* Author: Chittaranjan Srinivas Swaminathan */
36
39
40namespace chomp_interface
41{
42CHOMPPlanningContext::CHOMPPlanningContext(const std::string& name, const std::string& group,
43 const moveit::core::RobotModelConstPtr& model,
44 const rclcpp::Node::SharedPtr& node)
45 : planning_interface::PlanningContext(name, group), robot_model_(model)
46{
47 chomp_interface_ = std::make_shared<CHOMPInterface>(node);
48}
49
51{
52 chomp_interface_->solve(planning_scene_, request_, chomp_interface_->getParams(), res);
53}
54
56{
58 solve(res_detailed);
59 if (res_detailed.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
60 {
61 res.trajectory = res_detailed.trajectory[0];
62 res.planning_time = res_detailed.processing_time[0];
63 }
64
65 res.error_code = res_detailed.error_code;
66}
67
69{
70 // TODO - make interruptible
71 return true;
72}
73
77
78} // namespace chomp_interface
bool terminate() override
If solve() is running, terminate the computation. Return false if termination not possible....
void solve(planning_interface::MotionPlanResponse &res) override
Solve the motion planning problem and store the result in res. This function should not clear data st...
void clear() override
Clear the data structures used by the planner.
CHOMPPlanningContext(const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node)
planning_scene::PlanningSceneConstPtr planning_scene_
The planning scene for this context.
MotionPlanRequest request_
The planning request for this context.
This namespace includes the base class for MoveIt planners.
moveit_msgs::msg::MoveItErrorCodes error_code
std::vector< robot_trajectory::RobotTrajectoryPtr > trajectory
Response to a planning query.
moveit::core::MoveItErrorCode error_code
robot_trajectory::RobotTrajectoryPtr trajectory