default_planning_request_adapters::ResolveConstraintFrames Class Reference

Transforms frames used in constraints to link frames in the robot model. More...

Inheritance diagram for default_planning_request_adapters::ResolveConstraintFrames:

Collaboration diagram for default_planning_request_adapters::ResolveConstraintFrames:

Public Member Functions
	ResolveConstraintFrames ()
	~ResolveConstraintFrames () override=default
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
virtual void	initialize (const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)
	Initialize parameters using the passed Node and parameter namespace.

Detailed Description

Transforms frames used in constraints to link frames in the robot model.

Definition at line 49 of file resolve_constraint_frames.cpp.

Constructor & Destructor Documentation

ResolveConstraintFrames()

default_planning_request_adapters::ResolveConstraintFrames::ResolveConstraintFrames ( )

inline

Definition at line 52 of file resolve_constraint_frames.cpp.

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~ResolveConstraintFrames()

default_planning_request_adapters::ResolveConstraintFrames::~ResolveConstraintFrames ( )

overridedefault

Member Function Documentation

adapt()

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

inlinenodiscardoverridevirtual

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 62 of file resolve_constraint_frames.cpp.

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getDescription()

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

inlinenodiscardoverridevirtual

Get a description of this adapter.

Returns

Returns a short string that identifies the planning request adapter

Implements planning_interface::PlanningRequestAdapter.

Definition at line 57 of file resolve_constraint_frames.cpp.

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

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