chomp_interface::CHOMPPlanningContext Class Reference

#include <chomp_planning_context.h>

Inheritance diagram for chomp_interface::CHOMPPlanningContext:

Collaboration diagram for chomp_interface::CHOMPPlanningContext:

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 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
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.

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

• moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_planning_context.h
• moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp