moveit::hybrid_planning::LocalConstraintSolverInterface Class Reference

#include <local_constraint_solver_interface.h>

Inheritance diagram for moveit::hybrid_planning::LocalConstraintSolverInterface:

Public Member Functions
	LocalConstraintSolverInterface ()=default
	LocalConstraintSolverInterface (const LocalConstraintSolverInterface &)=default
	LocalConstraintSolverInterface (LocalConstraintSolverInterface &&)=default
LocalConstraintSolverInterface &	operator= (const LocalConstraintSolverInterface &)=default
LocalConstraintSolverInterface &	operator= (LocalConstraintSolverInterface &&)=default
virtual	~LocalConstraintSolverInterface ()=default
virtual bool	initialize (const rclcpp::Node::SharedPtr &node, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const std::string &group_name)=0
virtual moveit_msgs::action::LocalPlanner::Feedback	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)=0
virtual bool	reset ()=0

Detailed Description

Class LocalConstraintSolverInterface - Base class for a local constrain solver.

Definition at line 59 of file local_constraint_solver_interface.h.

Constructor & Destructor Documentation

LocalConstraintSolverInterface() [1/3]

moveit::hybrid_planning::LocalConstraintSolverInterface::LocalConstraintSolverInterface ( )

default

LocalConstraintSolverInterface() [2/3]

moveit::hybrid_planning::LocalConstraintSolverInterface::LocalConstraintSolverInterface ( const LocalConstraintSolverInterface &  )

default

LocalConstraintSolverInterface() [3/3]

moveit::hybrid_planning::LocalConstraintSolverInterface::LocalConstraintSolverInterface ( LocalConstraintSolverInterface &&  )

default

~LocalConstraintSolverInterface()

virtual moveit::hybrid_planning::LocalConstraintSolverInterface::~LocalConstraintSolverInterface ( )

virtualdefault

Member Function Documentation

initialize()

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

pure virtual

Initialize local constraint solver

Returns

True if initialization was successful

Implemented in moveit::hybrid_planning::ForwardTrajectory.

operator=() [1/2]

LocalConstraintSolverInterface & moveit::hybrid_planning::LocalConstraintSolverInterface::operator= ( const LocalConstraintSolverInterface &  )

default

operator=() [2/2]

LocalConstraintSolverInterface & moveit::hybrid_planning::LocalConstraintSolverInterface::operator= ( LocalConstraintSolverInterface &&  )

default

reset()

virtual bool moveit::hybrid_planning::LocalConstraintSolverInterface::reset ( )

pure virtual

Reset local constraint solver to some user-defined initial state

Returns

True if reset was successful

Implemented in moveit::hybrid_planning::ForwardTrajectory.

solve()

virtual moveit_msgs::action::LocalPlanner::Feedback moveit::hybrid_planning::LocalConstraintSolverInterface::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  )

pure virtual

Solve local planning problem for the current iteration

Parameters

local_trajectory	The local trajectory to pursue
local_goal	Local goal constraints
local_solution	solution plan in joint space

Returns

Feedback event from the current solver call i.e. "Collision detected"

Implemented in moveit::hybrid_planning::ForwardTrajectory.

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

• moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_constraint_solver_interface.h