default_planner_request_adapters::FixStartStatePathConstraints Class Reference

This fix start state collision adapter will attempt to sample a new collision-free configuration near a specified configuration (in collision) by perturbing the joint values by a small amount. More...

Inheritance diagram for default_planner_request_adapters::FixStartStatePathConstraints:

Collaboration diagram for default_planner_request_adapters::FixStartStatePathConstraints:

Public Member Functions
void	initialize (const rclcpp::Node::SharedPtr &, 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 &planning_scene, 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

This fix start state collision adapter will attempt to sample a new collision-free configuration near a specified configuration (in collision) by perturbing the joint values by a small amount.

Definition at line 59 of file fix_start_state_path_constraints.cpp.

Member Function Documentation

adaptAndPlan()

bool default_planner_request_adapters::FixStartStatePathConstraints::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

Returns

True if response got generated correctly

Implements planning_request_adapter::PlanningRequestAdapter.

Definition at line 71 of file fix_start_state_path_constraints.cpp.

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getDescription()

std::string default_planner_request_adapters::FixStartStatePathConstraints::getDescription ( ) const

inlineoverridevirtual

Get a description of this adapter.

Returns

Returns a short string that identifies the planning request adapter

Implements planning_request_adapter::PlanningRequestAdapter.

Definition at line 66 of file fix_start_state_path_constraints.cpp.

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initialize()

void default_planner_request_adapters::FixStartStatePathConstraints::initialize ( const rclcpp::Node::SharedPtr &  node, const std::string &  parameter_namespace  )

inlineoverridevirtual

Initialize parameters using the passed Node and parameter namespace.

Parameters

node	Node instance used by the adapter
parameter_namespace	Parameter namespace for adapter If no initialization is needed, simply implement as empty

Implements planning_request_adapter::PlanningRequestAdapter.

Definition at line 62 of file fix_start_state_path_constraints.cpp.

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

• moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp