moveit2
The MoveIt Motion Planning Framework for ROS 2.
|
#include <chomp_planning_context.h>
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 () |
![]() | |
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 MotionPlanRequest & | getMotionPlanRequest () 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 | |
![]() | |
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. | |
Definition at line 48 of file chomp_planning_context.h.
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.
|
overridedefault |
|
overridevirtual |
Clear the data structures used by the planner.
Implements planning_interface::PlanningContext.
Definition at line 74 of file chomp_planning_context.cpp.
void chomp_interface::CHOMPPlanningContext::initialize | ( | ) |
|
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.
|
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.
|
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.