moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <simple_sampler.h>
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 ¤t_state, robot_trajectory::RobotTrajectory &local_trajectory) override |
double | getTrajectoryProgress (const moveit::core::RobotState ¤t_state) override |
bool | reset () override |
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TrajectoryOperatorInterface ()=default | |
TrajectoryOperatorInterface (const TrajectoryOperatorInterface &)=default | |
TrajectoryOperatorInterface (TrajectoryOperatorInterface &&)=default | |
TrajectoryOperatorInterface & | operator= (const TrajectoryOperatorInterface &)=default |
TrajectoryOperatorInterface & | operator= (TrajectoryOperatorInterface &&)=default |
virtual | ~TrajectoryOperatorInterface ()=default |
Additional Inherited Members | |
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robot_trajectory::RobotTrajectoryPtr | reference_trajectory_ |
std::string | group_ |
Definition at line 46 of file simple_sampler.h.
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default |
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overridedefault |
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overridevirtual |
Add a new reference trajectory segment to the vector of global trajectory segments to process
new_trajectory | New reference trajectory segment to add |
Implements moveit::hybrid_planning::TrajectoryOperatorInterface.
Definition at line 56 of file simple_sampler.cpp.
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overridevirtual |
Return the current local constraints based on the newest robot state
current_state | Current RobotState |
Implements moveit::hybrid_planning::TrajectoryOperatorInterface.
Definition at line 79 of file simple_sampler.cpp.
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overridevirtual |
Return the processing status of the reference trajectory's execution based on a user defined metric.
current_state | Current RobotState |
Implements moveit::hybrid_planning::TrajectoryOperatorInterface.
Definition at line 109 of file simple_sampler.cpp.
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overridevirtual |
Initialize trajectory operator
node | Node handle to access parameters |
robot_model | Robot model |
group_name | Name of the joint group the trajectory uses |
Implements moveit::hybrid_planning::TrajectoryOperatorInterface.
Definition at line 46 of file simple_sampler.cpp.
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overridevirtual |
Reset trajectory operator to some user-defined initial state
Implements moveit::hybrid_planning::TrajectoryOperatorInterface.
Definition at line 71 of file simple_sampler.cpp.