default_planning_request_adapters::CheckStartStateBounds Class Reference

The CheckStartStateBounds adapter validates if the start state is within the joint limits specified in the URDF. More...

Inheritance diagram for default_planning_request_adapters::CheckStartStateBounds:

Collaboration diagram for default_planning_request_adapters::CheckStartStateBounds:

Public Member Functions
	CheckStartStateBounds ()
void	initialize (const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace) override
	Initialize parameters using the passed Node and parameter namespace.
std::string	getDescription () const override
	Get a description of this adapter.
moveit::core::MoveItErrorCode	adapt (const planning_scene::PlanningSceneConstPtr &planning_scene, planning_interface::MotionPlanRequest &req) const override
	Adapt the planning request.

Detailed Description

The CheckStartStateBounds adapter validates if the start state is within the joint limits specified in the URDF.

Definition at line 62 of file check_start_state_bounds.cpp.

Constructor & Destructor Documentation

CheckStartStateBounds()

default_planning_request_adapters::CheckStartStateBounds::CheckStartStateBounds ( )

inline

Definition at line 65 of file check_start_state_bounds.cpp.

Member Function Documentation

adapt()

moveit::core::MoveItErrorCode default_planning_request_adapters::CheckStartStateBounds::adapt ( const planning_scene::PlanningSceneConstPtr &  planning_scene, planning_interface::MotionPlanRequest &  req  ) const

inlineoverridevirtual

Adapt the planning request.

Parameters

planning_scene	Representation of the environment for the planning
req	Motion planning request with a set of constraints

Returns

True if response was generated correctly

Implements planning_interface::PlanningRequestAdapter.

Definition at line 79 of file check_start_state_bounds.cpp.

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getDescription()

std::string default_planning_request_adapters::CheckStartStateBounds::getDescription ( ) const

inlineoverridevirtual

Get a description of this adapter.

Returns

Returns a short string that identifies the planning request adapter

Implements planning_interface::PlanningRequestAdapter.

Definition at line 74 of file check_start_state_bounds.cpp.

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initialize()

void default_planning_request_adapters::CheckStartStateBounds::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

The default implementation is empty

Reimplemented from planning_interface::PlanningRequestAdapter.

Definition at line 69 of file check_start_state_bounds.cpp.

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

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