moveit::hybrid_planning::HybridPlanningManager Class Reference

#include <hybrid_planning_manager.h>

Public Member Functions
	HybridPlanningManager (const rclcpp::NodeOptions &options)
	Constructor. More...
	~HybridPlanningManager ()
	Destructor. More...
bool	initialize ()
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()
void	cancelHybridManagerGoals () noexcept
void	executeHybridPlannerGoal (std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::HybridPlanner >> goal_handle)
bool	sendGlobalPlannerAction ()
bool	sendLocalPlannerAction ()
void	sendHybridPlanningResponse (bool success)
void	processReactionResult (const ReactionResult &result)
	Process the action result and do an action call if necessary. More...

Detailed Description

Class HybridPlanningManager - ROS 2 component node that implements the hybrid planning manager.

Definition at line 57 of file hybrid_planning_manager.h.

Constructor & Destructor Documentation

HybridPlanningManager()

moveit::hybrid_planning::HybridPlanningManager::HybridPlanningManager

(

const rclcpp::NodeOptions &

options

)

Constructor.

Definition at line 52 of file hybrid_planning_manager.cpp.

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~HybridPlanningManager()

moveit::hybrid_planning::HybridPlanningManager::~HybridPlanningManager ( )

inline

Destructor.

Definition at line 64 of file hybrid_planning_manager.h.

Member Function Documentation

cancelHybridManagerGoals()

void moveit::hybrid_planning::HybridPlanningManager::cancelHybridManagerGoals ( )

noexcept

Cancel any active action goals, including global and local planners

Definition at line 138 of file hybrid_planning_manager.cpp.

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executeHybridPlannerGoal()

void moveit::hybrid_planning::HybridPlanningManager::executeHybridPlannerGoal

(

std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::HybridPlanner >>

goal_handle

)

This handles execution of a hybrid planning goal in a new thread, to avoid blocking the executor.

Parameters

goal_handle

The action server goal

Definition at line 152 of file hybrid_planning_manager.cpp.

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get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr moveit::hybrid_planning::HybridPlanningManager::get_node_base_interface ( )

inline

Definition at line 81 of file hybrid_planning_manager.h.

initialize()

bool moveit::hybrid_planning::HybridPlanningManager::initialize

(

)

Load and initialized planner logic plugin and ROS 2 action and topic interfaces

Returns

Initialization successful yes/no

processReactionResult()

void moveit::hybrid_planning::HybridPlanningManager::processReactionResult

(

const ReactionResult &

result

)

Process the action result and do an action call if necessary.

Parameters

result

Result to an event

Definition at line 303 of file hybrid_planning_manager.cpp.

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sendGlobalPlannerAction()

bool moveit::hybrid_planning::HybridPlanningManager::sendGlobalPlannerAction

(

)

Send global planning request to global planner component

Returns

Global planner successfully started yes/no

Definition at line 165 of file hybrid_planning_manager.cpp.

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sendHybridPlanningResponse()

void moveit::hybrid_planning::HybridPlanningManager::sendHybridPlanningResponse

(

bool

success

)

Send back hybrid planning response

Parameters

success

Indicates whether hybrid planning was successful

Definition at line 287 of file hybrid_planning_manager.cpp.

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sendLocalPlannerAction()

bool moveit::hybrid_planning::HybridPlanningManager::sendLocalPlannerAction

(

)

Send local planning request to local planner component

Returns

Local planner successfully started yes/no

Definition at line 224 of file hybrid_planning_manager.cpp.

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

• moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/hybrid_planning_manager.h
• moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp