default_planning_response_adapters::ValidateSolution Class Reference

Adapter to check the request path validity (collision avoidance, feasibility and constraint satisfaction) More...

Inheritance diagram for default_planning_response_adapters::ValidateSolution:

Collaboration diagram for default_planning_response_adapters::ValidateSolution:

Public Member Functions
	ValidateSolution ()
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 &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const override
	Adapt the planning response.

Detailed Description

Adapter to check the request path validity (collision avoidance, feasibility and constraint satisfaction)

Definition at line 52 of file validate_path.cpp.

Constructor & Destructor Documentation

ValidateSolution()

default_planning_response_adapters::ValidateSolution::ValidateSolution ( )

inline

Definition at line 55 of file validate_path.cpp.

Member Function Documentation

adapt()

void default_planning_response_adapters::ValidateSolution::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 78 of file validate_path.cpp.

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getDescription()

std::string default_planning_response_adapters::ValidateSolution::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 73 of file validate_path.cpp.

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initialize()

void default_planning_response_adapters::ValidateSolution::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 59 of file validate_path.cpp.

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

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