Extracts max velocity and acceleration scaling, and cartesian speed limits from the plan request. More...
#include <get_cartesian_path_request_features.hpp>
Public Member Functions | |
| CartesianMaxSpeedAndAccelerationFeatures () | |
| std::string | getName () const override |
| Gets the name of the features implementation. | |
| moveit::core::MoveItErrorCode | appendFeaturesAsFuzzyFetchQuery (warehouse_ros::Query &query, const moveit_msgs::srv::GetCartesianPath::Request &source, const moveit::planning_interface::MoveGroupInterface &move_group, double exact_match_precision) const override |
| Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with fuzzy matching. | |
| moveit::core::MoveItErrorCode | appendFeaturesAsExactFetchQuery (warehouse_ros::Query &query, const moveit_msgs::srv::GetCartesianPath::Request &source, const moveit::planning_interface::MoveGroupInterface &move_group, double exact_match_precision) const override |
| Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with exact matching. | |
| moveit::core::MoveItErrorCode | appendFeaturesAsInsertMetadata (warehouse_ros::Metadata &metadata, const moveit_msgs::srv::GetCartesianPath::Request &source, const moveit::planning_interface::MoveGroupInterface &move_group) const override |
| Extracts relevant features from FeatureSourceT, to be appended to a cache entry's metadata. | |
 Public Member Functions inherited from moveit_ros::trajectory_cache::FeaturesInterface< moveit_msgs::srv::GetCartesianPath::Request > | |
| virtual | ~FeaturesInterface ()=default |
Detailed Description
Extracts max velocity and acceleration scaling, and cartesian speed limits from the plan request.
These features will be extracted as less-than-or-equal features.
NOTE: In accordance with the source message's field descriptions: If the max scaling factors are outside the range of (0, 1], they will be set to 1. If max_cartesian_speed is <= 0, it will be ignored instead.
Definition at line 113 of file get_cartesian_path_request_features.hpp.
Constructor & Destructor Documentation
◆ CartesianMaxSpeedAndAccelerationFeatures()
| moveit_ros::trajectory_cache::CartesianMaxSpeedAndAccelerationFeatures::CartesianMaxSpeedAndAccelerationFeatures | ( | ) |
Definition at line 130 of file get_cartesian_path_request_features.cpp.
Member Function Documentation
◆ appendFeaturesAsExactFetchQuery()
|
overridevirtual |
Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with exact matching.
These parameters will be used key the cache element in an exact manner.
- Parameters
-
[in,out] query. The query to add features to. [in] source. A FeatureSourceT to extract features from. [in] move_group. The manipulator move group, used to get its state. [in] exact_match_precision. Tolerance for float precision comparison for what counts as an exact match.
- Returns
- moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.
Implements moveit_ros::trajectory_cache::FeaturesInterface< moveit_msgs::srv::GetCartesianPath::Request >.
Definition at line 147 of file get_cartesian_path_request_features.cpp.
◆ appendFeaturesAsFuzzyFetchQuery()
|
overridevirtual |
Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with fuzzy matching.
These parameters will be used key the cache element in a fuzzy manner.
- Parameters
-
[in,out] query. The query to add features to. [in] source. A FeatureSourceT to extract features from. [in] move_group. The manipulator move group, used to get its state. [in] exact_match_precision. Tolerance for float precision comparison for what counts as an exact match.
- Returns
- moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.
Implements moveit_ros::trajectory_cache::FeaturesInterface< moveit_msgs::srv::GetCartesianPath::Request >.
Definition at line 140 of file get_cartesian_path_request_features.cpp.
◆ appendFeaturesAsInsertMetadata()
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overridevirtual |
Extracts relevant features from FeatureSourceT, to be appended to a cache entry's metadata.
These parameters will be used key the cache element.
- Parameters
-
[in,out] metadata. The metadata to add features to. [in] source. A FeatureSourceT to extract features from. [in] move_group. The manipulator move group, used to get its state.
- Returns
- moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused.
Implements moveit_ros::trajectory_cache::FeaturesInterface< moveit_msgs::srv::GetCartesianPath::Request >.
Definition at line 178 of file get_cartesian_path_request_features.cpp.
◆ getName()
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overridevirtual |
Gets the name of the features implementation.
Implements moveit_ros::trajectory_cache::FeaturesInterface< moveit_msgs::srv::GetCartesianPath::Request >.
Definition at line 135 of file get_cartesian_path_request_features.cpp.
The documentation for this class was generated from the following files:
- moveit_ros/trajectory_cache/include/moveit/trajectory_cache/features/get_cartesian_path_request_features.hpp
- moveit_ros/trajectory_cache/src/features/get_cartesian_path_request_features.cpp
