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The MoveIt Motion Planning Framework for ROS 2.
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default_planning_request_adapters::ValidateWorkspaceBounds Class Reference

If not specified by the planning request, this request adapter will specify a default workspace for planning. More...

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Public Member Functions

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

Detailed Description

If not specified by the planning request, this request adapter will specify a default workspace for planning.

Definition at line 53 of file validate_workspace_bounds.cpp.

Constructor & Destructor Documentation

◆ ValidateWorkspaceBounds()

default_planning_request_adapters::ValidateWorkspaceBounds::ValidateWorkspaceBounds ( )
inline

Definition at line 56 of file validate_workspace_bounds.cpp.

Member Function Documentation

◆ adapt()

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

Adapt the planning request.

Parameters
planning_sceneRepresentation of the environment for the planning
reqMotion planning request with a set of constraints
Returns
True if response was generated correctly

Implements planning_interface::PlanningRequestAdapter.

Definition at line 70 of file validate_workspace_bounds.cpp.

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◆ getDescription()

std::string default_planning_request_adapters::ValidateWorkspaceBounds::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 65 of file validate_workspace_bounds.cpp.

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◆ initialize()

void default_planning_request_adapters::ValidateWorkspaceBounds::initialize ( const rclcpp::Node::SharedPtr &  node,
const std::string &  parameter_namespace 
)
inlineoverridevirtual

Initialize parameters using the passed Node and parameter namespace.

Parameters
nodeNode instance used by the adapter
parameter_namespaceParameter namespace for adapter

The default implementation is empty

Reimplemented from planning_interface::PlanningRequestAdapter.

Definition at line 60 of file validate_workspace_bounds.cpp.


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