moveit2
The MoveIt Motion Planning Framework for ROS 2.
Loading...
Searching...
No Matches
Public Member Functions | List of all members
moveit::hybrid_planning::ForwardTrajectory Class Reference

#include <forward_trajectory.h>

Inheritance diagram for moveit::hybrid_planning::ForwardTrajectory:
Inheritance graph
[legend]
Collaboration diagram for moveit::hybrid_planning::ForwardTrajectory:
Collaboration graph
[legend]

Public Member Functions

 ForwardTrajectory ()=default
 
 ~ForwardTrajectory () override=default
 
bool initialize (const rclcpp::Node::SharedPtr &node, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const std::string &) override
 
bool reset () override
 
moveit_msgs::action::LocalPlanner::Feedback solve (const robot_trajectory::RobotTrajectory &local_trajectory, const std::shared_ptr< const moveit_msgs::action::LocalPlanner::Goal >, trajectory_msgs::msg::JointTrajectory &local_solution) override
 
- Public Member Functions inherited from moveit::hybrid_planning::LocalConstraintSolverInterface
 LocalConstraintSolverInterface ()=default
 
 LocalConstraintSolverInterface (const LocalConstraintSolverInterface &)=default
 
 LocalConstraintSolverInterface (LocalConstraintSolverInterface &&)=default
 
LocalConstraintSolverInterfaceoperator= (const LocalConstraintSolverInterface &)=default
 
LocalConstraintSolverInterfaceoperator= (LocalConstraintSolverInterface &&)=default
 
virtual ~LocalConstraintSolverInterface ()=default
 

Detailed Description

Definition at line 48 of file forward_trajectory.h.

Constructor & Destructor Documentation

◆ ForwardTrajectory()

moveit::hybrid_planning::ForwardTrajectory::ForwardTrajectory ( )
default

◆ ~ForwardTrajectory()

moveit::hybrid_planning::ForwardTrajectory::~ForwardTrajectory ( )
overridedefault

Member Function Documentation

◆ initialize()

bool moveit::hybrid_planning::ForwardTrajectory::initialize ( const rclcpp::Node::SharedPtr &  node,
const planning_scene_monitor::PlanningSceneMonitorPtr &  planning_scene_monitor,
const std::string &  group_name 
)
overridevirtual

Initialize local constraint solver

Returns
True if initialization was successful

Implements moveit::hybrid_planning::LocalConstraintSolverInterface.

Definition at line 49 of file forward_trajectory.cpp.

◆ reset()

bool moveit::hybrid_planning::ForwardTrajectory::reset ( )
overridevirtual

Reset local constraint solver to some user-defined initial state

Returns
True if reset was successful

Implements moveit::hybrid_planning::LocalConstraintSolverInterface.

Definition at line 71 of file forward_trajectory.cpp.

◆ solve()

moveit_msgs::action::LocalPlanner::Feedback moveit::hybrid_planning::ForwardTrajectory::solve ( const robot_trajectory::RobotTrajectory local_trajectory,
const std::shared_ptr< const moveit_msgs::action::LocalPlanner::Goal >  local_goal,
trajectory_msgs::msg::JointTrajectory &  local_solution 
)
overridevirtual

Solve local planning problem for the current iteration

Parameters
local_trajectoryThe local trajectory to pursue
local_goalLocal goal constraints
local_solutionsolution plan in joint space
Returns
Feedback event from the current solver call i.e. "Collision detected"

Implements moveit::hybrid_planning::LocalConstraintSolverInterface.

Definition at line 80 of file forward_trajectory.cpp.

Here is the call graph for this function:

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