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 ()
	~CheckStartStateBounds () override=default
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.
Public Member Functions inherited from planning_interface::PlanningRequestAdapter
virtual	~PlanningRequestAdapter ()=default

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.

~CheckStartStateBounds()

default_planning_request_adapters::CheckStartStateBounds::~CheckStartStateBounds ( )

overridedefault

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 81 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 76 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 71 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