moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit::hybrid_planning::LocalPlannerComponent Class Reference

#include <local_planner_component.h>

Public Member Functions

 LocalPlannerComponent (const rclcpp::NodeOptions &options)
 Constructor. More...
 
 ~LocalPlannerComponent ()
 Destructor. More...
 
bool initialize ()
 
void executeIteration ()
 
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface ()
 

Detailed Description

Class LocalPlannerComponent - ROS 2 component node that implements a local planner.

Definition at line 85 of file local_planner_component.h.

Constructor & Destructor Documentation

◆ LocalPlannerComponent()

moveit::hybrid_planning::LocalPlannerComponent::LocalPlannerComponent ( const rclcpp::NodeOptions &  options)

Constructor.

Definition at line 57 of file local_planner_component.cpp.

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◆ ~LocalPlannerComponent()

moveit::hybrid_planning::LocalPlannerComponent::~LocalPlannerComponent ( )
inline

Destructor.

Definition at line 92 of file local_planner_component.h.

Member Function Documentation

◆ executeIteration()

void moveit::hybrid_planning::LocalPlannerComponent::executeIteration ( )

Handle the planners current job based on the internal state each iteration when the planner is started.

Definition at line 252 of file local_planner_component.cpp.

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◆ get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr moveit::hybrid_planning::LocalPlannerComponent::get_node_base_interface ( )
inline

Definition at line 116 of file local_planner_component.h.

◆ initialize()

bool moveit::hybrid_planning::LocalPlannerComponent::initialize ( )

Initialize and start planning scene monitor to listen to the planning scene topic. Load trajectory_operator and constraint solver plugin. Initialize ROS 2 interfaces

Returns
true if scene monitor and plugins are successfully initialized

Definition at line 69 of file local_planner_component.cpp.

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