Inheritance diagram for chomp::OptimizerAdapter:

Collaboration diagram for chomp::OptimizerAdapter:

Public Member Functions
	OptimizerAdapter ()

void	initialize (const rclcpp::Node::SharedPtr &node, const std::string &) override
	Initialize parameters using the passed Node and parameter namespace. More...

std::string	getDescription () const override
	Get a description of this adapter. More...

bool	adaptAndPlan (const PlannerFn &planner, const planning_scene::PlanningSceneConstPtr &ps, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const override
	Adapt the planning request if needed, call the planner function planner and update the planning response if needed. If the response is changed, the index values of the states added without planning are added to added_path_index. More...

Public Member Functions inherited from planning_request_adapter::PlanningRequestAdapter
bool	adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
	Adapt the planning request if needed, call the planner function planner and update the planning response if needed. If the response is changed, the index values of the states added without planning are added to added_path_index. More...

Additional Inherited Members
Public Types inherited from planning_request_adapter::PlanningRequestAdapter
using	PlannerFn = std::function< bool(const planning_scene::PlanningSceneConstPtr &, const planning_interface::MotionPlanRequest &, planning_interface::MotionPlanResponse &)>
	Functional interface to call a planning function. More...

Detailed Description

Definition at line 58 of file chomp_optimizer_adapter.cpp.

Constructor & Destructor Documentation

◆ OptimizerAdapter()

chomp::OptimizerAdapter::OptimizerAdapter ( )

inline

Definition at line 61 of file chomp_optimizer_adapter.cpp.

Member Function Documentation

◆ adaptAndPlan()

bool chomp::OptimizerAdapter::adaptAndPlan	(	const PlannerFn &	planner,
		const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		planning_interface::MotionPlanResponse &	res
	)		const

inlineoverridevirtual

Adapt the planning request if needed, call the planner function planner and update the planning response if needed. If the response is changed, the index values of the states added without planning are added to added_path_index.

Parameters

planner	Pointer to the planner used to solve the passed problem
planning_scene	Representation of the environment for the planning
req	Motion planning request with a set of constraints
res	Reference to which the generated motion plan response is written to