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The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | List of all members
default_planning_response_adapters::ValidateSolution Class Reference

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

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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_sceneRepresentation of the environment for the planning
reqMotion planning request with a set of constraints
resMotion 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
nodeNode instance used by the adapter
parameter_namespaceParameter namespace for adapter

The default implementation is empty

Reimplemented from planning_interface::PlanningResponseAdapter.

Definition at line 59 of file validate_path.cpp.


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