moveit::hybrid_planning::TrajectoryOperatorInterface Class Reference

#include <trajectory_operator_interface.hpp>

Inheritance diagram for moveit::hybrid_planning::TrajectoryOperatorInterface:

Public Member Functions
	TrajectoryOperatorInterface ()=default
	TrajectoryOperatorInterface (const TrajectoryOperatorInterface &)=default
	TrajectoryOperatorInterface (TrajectoryOperatorInterface &&)=default
TrajectoryOperatorInterface &	operator= (const TrajectoryOperatorInterface &)=default
TrajectoryOperatorInterface &	operator= (TrajectoryOperatorInterface &&)=default
virtual	~TrajectoryOperatorInterface ()=default
virtual bool	initialize (const rclcpp::Node::SharedPtr &node, const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name)=0
virtual moveit_msgs::action::LocalPlanner::Feedback	addTrajectorySegment (const robot_trajectory::RobotTrajectory &new_trajectory)=0
virtual moveit_msgs::action::LocalPlanner::Feedback	getLocalTrajectory (const moveit::core::RobotState &current_state, robot_trajectory::RobotTrajectory &local_trajectory)=0
virtual double	getTrajectoryProgress (const moveit::core::RobotState &current_state)=0
virtual bool	reset ()=0

Protected Attributes
robot_trajectory::RobotTrajectoryPtr	reference_trajectory_
std::string	group_

Detailed Description

Class TrajectoryOperatorInterface - Base class for a trajectory operator. The operator's task is manage the local planner's global reference trajectory. This includes trajectory matching based on the current state to identify the current planning problem and blending of new global trajectory updates into the currently processed reference trajectory.

Definition at line 60 of file trajectory_operator_interface.hpp.

Constructor & Destructor Documentation

TrajectoryOperatorInterface() [1/3]

moveit::hybrid_planning::TrajectoryOperatorInterface::TrajectoryOperatorInterface ( )

default

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TrajectoryOperatorInterface() [2/3]

moveit::hybrid_planning::TrajectoryOperatorInterface::TrajectoryOperatorInterface ( const TrajectoryOperatorInterface & )

default

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TrajectoryOperatorInterface() [3/3]

moveit::hybrid_planning::TrajectoryOperatorInterface::TrajectoryOperatorInterface ( TrajectoryOperatorInterface && )

default

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~TrajectoryOperatorInterface()

virtual moveit::hybrid_planning::TrajectoryOperatorInterface::~TrajectoryOperatorInterface ( )

virtualdefault

Member Function Documentation

addTrajectorySegment()

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

pure virtual

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

Implemented in moveit::hybrid_planning::SimpleSampler.

getLocalTrajectory()

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

pure virtual

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

Implemented in moveit::hybrid_planning::SimpleSampler.

getTrajectoryProgress()

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

pure virtual

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).

Implemented in moveit::hybrid_planning::SimpleSampler.

initialize()

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

pure virtual

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

Implemented in moveit::hybrid_planning::SimpleSampler.

operator=() [1/2]

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

default

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operator=() [2/2]

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

default

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reset()

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

pure virtual

Reset trajectory operator to some user-defined initial state

Returns

True if reset was successful

Implemented in moveit::hybrid_planning::SimpleSampler.

Member Data Documentation

group_

std::string moveit::hybrid_planning::TrajectoryOperatorInterface::group_

protected

Definition at line 113 of file trajectory_operator_interface.hpp.

reference_trajectory_

robot_trajectory::RobotTrajectoryPtr moveit::hybrid_planning::TrajectoryOperatorInterface::reference_trajectory_

protected

Definition at line 112 of file trajectory_operator_interface.hpp.

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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/trajectory_operator_interface.hpp