moveit::hybrid_planning::SimpleSampler Class Reference

#include <simple_sampler.h>

Inheritance diagram for moveit::hybrid_planning::SimpleSampler:

Collaboration diagram for moveit::hybrid_planning::SimpleSampler:

Public Member Functions
	SimpleSampler ()=default
	~SimpleSampler () override=default
bool	initialize (const rclcpp::Node::SharedPtr &node, const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name) override
moveit_msgs::action::LocalPlanner::Feedback	addTrajectorySegment (const robot_trajectory::RobotTrajectory &new_trajectory) override
moveit_msgs::action::LocalPlanner::Feedback	getLocalTrajectory (const moveit::core::RobotState &current_state, robot_trajectory::RobotTrajectory &local_trajectory) override
double	getTrajectoryProgress (const moveit::core::RobotState &current_state) override
bool	reset () override
Public Member Functions inherited from moveit::hybrid_planning::TrajectoryOperatorInterface
	TrajectoryOperatorInterface ()=default
	TrajectoryOperatorInterface (const TrajectoryOperatorInterface &)=default
	TrajectoryOperatorInterface (TrajectoryOperatorInterface &&)=default
TrajectoryOperatorInterface &	operator= (const TrajectoryOperatorInterface &)=default
TrajectoryOperatorInterface &	operator= (TrajectoryOperatorInterface &&)=default
virtual	~TrajectoryOperatorInterface ()=default

Additional Inherited Members
Protected Attributes inherited from moveit::hybrid_planning::TrajectoryOperatorInterface
robot_trajectory::RobotTrajectoryPtr	reference_trajectory_
std::string	group_

Detailed Description

Definition at line 46 of file simple_sampler.h.

Constructor & Destructor Documentation

SimpleSampler()

moveit::hybrid_planning::SimpleSampler::SimpleSampler ( )

default

~SimpleSampler()

moveit::hybrid_planning::SimpleSampler::~SimpleSampler ( )

overridedefault

Member Function Documentation

addTrajectorySegment()

moveit_msgs::action::LocalPlanner::Feedback moveit::hybrid_planning::SimpleSampler::addTrajectorySegment ( const robot_trajectory::RobotTrajectory &  new_trajectory )

overridevirtual

Add a new reference trajectory segment to the vector of global trajectory segments to process

Parameters

new_trajectory

New reference trajectory segment to add

Returns

True if segment was successfully added

Implements moveit::hybrid_planning::TrajectoryOperatorInterface.

Definition at line 56 of file simple_sampler.cpp.

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getLocalTrajectory()

moveit_msgs::action::LocalPlanner::Feedback moveit::hybrid_planning::SimpleSampler::getLocalTrajectory ( const moveit::core::RobotState &  current_state, robot_trajectory::RobotTrajectory &  local_trajectory  )

overridevirtual

Return the current local constraints based on the newest robot state

Parameters

current_state

Current RobotState

Returns

Current local constraints that define the local planning goal

Implements moveit::hybrid_planning::TrajectoryOperatorInterface.

Definition at line 79 of file simple_sampler.cpp.

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getTrajectoryProgress()

double moveit::hybrid_planning::SimpleSampler::getTrajectoryProgress ( const moveit::core::RobotState &  current_state )

overridevirtual

Return the processing status of the reference trajectory's execution based on a user defined metric.

Parameters

current_state

Current RobotState

Returns

A value between 0.0 (start) to 1.0 (completion).

Implements moveit::hybrid_planning::TrajectoryOperatorInterface.

Definition at line 109 of file simple_sampler.cpp.

initialize()

bool moveit::hybrid_planning::SimpleSampler::initialize ( const rclcpp::Node::SharedPtr &  node, const moveit::core::RobotModelConstPtr &  robot_model, const std::string &  group_name  )

overridevirtual

Initialize trajectory operator

Parameters

node	Node handle to access parameters
robot_model	Robot model
group_name	Name of the joint group the trajectory uses

Returns

True if initialization was successful

Implements moveit::hybrid_planning::TrajectoryOperatorInterface.

Definition at line 46 of file simple_sampler.cpp.

reset()

bool moveit::hybrid_planning::SimpleSampler::reset ( )

overridevirtual

Reset trajectory operator to some user-defined initial state

Returns

True if reset was successful

Implements moveit::hybrid_planning::TrajectoryOperatorInterface.

Definition at line 71 of file simple_sampler.cpp.

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

• moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/include/moveit/trajectory_operator_plugins/simple_sampler.h
• moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp