default_planning_response_adapters::AddTimeOptimalParameterization Class Reference

This adapter uses the time-optimal trajectory generation method. More...

Inheritance diagram for default_planning_response_adapters::AddTimeOptimalParameterization:

Collaboration diagram for default_planning_response_adapters::AddTimeOptimalParameterization:

Public Member Functions
	AddTimeOptimalParameterization ()
	~AddTimeOptimalParameterization () 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.
void	adapt (const planning_scene::PlanningSceneConstPtr &, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const override
	Adapt the planning response.
Public Member Functions inherited from planning_interface::PlanningResponseAdapter
virtual	~PlanningResponseAdapter ()=default

Protected Attributes
std::unique_ptr< default_response_adapter_parameters::ParamListener >	param_listener_
rclcpp::Logger	logger_

Detailed Description

This adapter uses the time-optimal trajectory generation method.

Definition at line 49 of file add_time_optimal_parameterization.cpp.

Constructor & Destructor Documentation

AddTimeOptimalParameterization()

default_planning_response_adapters::AddTimeOptimalParameterization::AddTimeOptimalParameterization ( )

inline

Definition at line 52 of file add_time_optimal_parameterization.cpp.

~AddTimeOptimalParameterization()

default_planning_response_adapters::AddTimeOptimalParameterization::~AddTimeOptimalParameterization ( )

overridedefault

Member Function Documentation

adapt()

void default_planning_response_adapters::AddTimeOptimalParameterization::adapt ( const planning_scene::PlanningSceneConstPtr &  planning_scene, const planning_interface::MotionPlanRequest &  req, planning_interface::MotionPlanResponse &  res  ) const

inlineoverridevirtual

Adapt the planning response.

Parameters

planning_scene	Representation of the environment for the planning
req	Motion planning request with a set of constraints
res	Motion planning response containing the solution that is adapted.

Implements planning_interface::PlanningResponseAdapter.

Definition at line 68 of file add_time_optimal_parameterization.cpp.

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getDescription()

std::string default_planning_response_adapters::AddTimeOptimalParameterization::getDescription ( ) const

inlineoverridevirtual

Get a description of this adapter.

Returns

Returns a short string that identifies the planning response adapter

Implements planning_interface::PlanningResponseAdapter.

Definition at line 63 of file add_time_optimal_parameterization.cpp.

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initialize()

void default_planning_response_adapters::AddTimeOptimalParameterization::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::PlanningResponseAdapter.

Definition at line 58 of file add_time_optimal_parameterization.cpp.

Member Data Documentation

logger_

rclcpp::Logger default_planning_response_adapters::AddTimeOptimalParameterization::logger_

protected

Definition at line 96 of file add_time_optimal_parameterization.cpp.

param_listener_

std::unique_ptr<default_response_adapter_parameters::ParamListener> default_planning_response_adapters::AddTimeOptimalParameterization::param_listener_

protected

Definition at line 95 of file add_time_optimal_parameterization.cpp.

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

• moveit_ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp