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

#include <chomp_planning_context.h>

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Public Member Functions

void solve (planning_interface::MotionPlanResponse &res) override
 Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.
 
void solve (planning_interface::MotionPlanDetailedResponse &res) override
 Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.
 
void clear () override
 Clear the data structures used by the planner.
 
bool terminate () override
 If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).
 
 CHOMPPlanningContext (const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node)
 
 ~CHOMPPlanningContext () override=default
 
void initialize ()
 
- Public Member Functions inherited from planning_interface::PlanningContext
 PlanningContext (const std::string &name, const std::string &group)
 Construct a planning context named name for the group group.
 
virtual ~PlanningContext ()
 
const std::string & getGroupName () const
 Get the name of the group this planning context is for.
 
const std::string & getName () const
 Get the name of this planning context.
 
const planning_scene::PlanningSceneConstPtr & getPlanningScene () const
 Get the planning scene associated to this planning context.
 
const MotionPlanRequestgetMotionPlanRequest () const
 Get the motion plan request associated to this planning context.
 
void setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
 Set the planning scene for this context.
 
void setMotionPlanRequest (const MotionPlanRequest &request)
 Set the planning request for this context.
 

Additional Inherited Members

- Protected Attributes inherited from planning_interface::PlanningContext
std::string name_
 The name of this planning context.
 
std::string group_
 The group (as in the SRDF) this planning context is for.
 
planning_scene::PlanningSceneConstPtr planning_scene_
 The planning scene for this context.
 
MotionPlanRequest request_
 The planning request for this context.
 

Detailed Description

Definition at line 48 of file chomp_planning_context.h.

Constructor & Destructor Documentation

◆ CHOMPPlanningContext()

chomp_interface::CHOMPPlanningContext::CHOMPPlanningContext ( const std::string &  name,
const std::string &  group,
const moveit::core::RobotModelConstPtr &  model,
const rclcpp::Node::SharedPtr &  node 
)

Definition at line 42 of file chomp_planning_context.cpp.

◆ ~CHOMPPlanningContext()

chomp_interface::CHOMPPlanningContext::~CHOMPPlanningContext ( )
overridedefault

Member Function Documentation

◆ clear()

void chomp_interface::CHOMPPlanningContext::clear ( )
overridevirtual

Clear the data structures used by the planner.

Implements planning_interface::PlanningContext.

Definition at line 74 of file chomp_planning_context.cpp.

◆ initialize()

void chomp_interface::CHOMPPlanningContext::initialize ( )

◆ solve() [1/2]

void chomp_interface::CHOMPPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse res)
overridevirtual

Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implements planning_interface::PlanningContext.

Definition at line 50 of file chomp_planning_context.cpp.

◆ solve() [2/2]

void chomp_interface::CHOMPPlanningContext::solve ( planning_interface::MotionPlanResponse res)
overridevirtual

Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implements planning_interface::PlanningContext.

Definition at line 55 of file chomp_planning_context.cpp.

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◆ terminate()

bool chomp_interface::CHOMPPlanningContext::terminate ( )
overridevirtual

If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).

Implements planning_interface::PlanningContext.

Definition at line 68 of file chomp_planning_context.cpp.


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