The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
chomp_interface::CHOMPInterface Class Reference

#include <chomp_interface.h>

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Public Member Functions

 CHOMPInterface (const rclcpp::Node::SharedPtr &node)
const chomp::ChompParametersgetParams () const
- Public Member Functions inherited from chomp::ChompPlanner
 ChompPlanner ()=default
virtual ~ChompPlanner ()=default
void solve (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, const ChompParameters &params, planning_interface::MotionPlanDetailedResponse &res) const

Protected Member Functions

void loadParams ()
 Configure everything using the param server. More...

Protected Attributes

std::shared_ptr< rclcpp::Node > node_
chomp::ChompParameters params_
 The ROS node. More...

Detailed Description

Definition at line 48 of file chomp_interface.h.

Constructor & Destructor Documentation

◆ CHOMPInterface()

chomp_interface::CHOMPInterface::CHOMPInterface ( const rclcpp::Node::SharedPtr &  node)

Definition at line 50 of file chomp_interface.cpp.

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Member Function Documentation

◆ getParams()

const chomp::ChompParameters& chomp_interface::CHOMPInterface::getParams ( ) const

Definition at line 53 of file chomp_interface.h.

◆ loadParams()

void chomp_interface::CHOMPInterface::loadParams ( )

Configure everything using the param server.

Definition at line 55 of file chomp_interface.cpp.

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Member Data Documentation

◆ node_

std::shared_ptr<rclcpp::Node> chomp_interface::CHOMPInterface::node_

Definition at line 62 of file chomp_interface.h.

◆ params_

chomp::ChompParameters chomp_interface::CHOMPInterface::params_

The ROS node.

Definition at line 64 of file chomp_interface.h.

The documentation for this class was generated from the following files: