Extracts features from the waypoints and link_name field in the plan request. More...

#include <get_cartesian_path_request_features.hpp>

Inheritance diagram for moveit_ros::trajectory_cache::CartesianWaypointsFeatures:

Collaboration diagram for moveit_ros::trajectory_cache::CartesianWaypointsFeatures:

Public Member Functions
	CartesianWaypointsFeatures (double match_tolerance)

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 features from the waypoints and link_name field in the plan request.

link_name is extracted here because it is what the waypoints are stated with reference to. Additionally, the waypoints will be restated in the robot's model frame.

NOTE: In accordance with the source message's field descriptions: If link_name is empty, uses move_group.getEndEffectorLink().

See also: appendConstraintsAsFetchQueryWithTolerance; appendConstraintsAsInsertMetadata

Definition at line 183 of file get_cartesian_path_request_features.hpp.

Constructor & Destructor Documentation

◆ CartesianWaypointsFeatures()

moveit_ros::trajectory_cache::CartesianWaypointsFeatures::CartesianWaypointsFeatures ( double match_tolerance )

Definition at line 272 of file get_cartesian_path_request_features.cpp.

Member Function Documentation

◆ appendFeaturesAsExactFetchQuery()

MoveItErrorCode moveit_ros::trajectory_cache::CartesianWaypointsFeatures::appendFeaturesAsExactFetchQuery	(	warehouse_ros::Query &	query,
		const moveit_msgs::srv::GetCartesianPath::Request &	source,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		double	exact_match_precision
	)		const

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 290 of file get_cartesian_path_request_features.cpp.

◆ appendFeaturesAsFuzzyFetchQuery()

MoveItErrorCode moveit_ros::trajectory_cache::CartesianWaypointsFeatures::appendFeaturesAsFuzzyFetchQuery	(	warehouse_ros::Query &	query,
		const moveit_msgs::srv::GetCartesianPath::Request &	source,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		double	exact_match_precision
	)		const

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 282 of file get_cartesian_path_request_features.cpp.

◆ appendFeaturesAsInsertMetadata()

MoveItErrorCode moveit_ros::trajectory_cache::CartesianWaypointsFeatures::appendFeaturesAsInsertMetadata	(	warehouse_ros::Metadata &	metadata,
		const moveit_msgs::srv::GetCartesianPath::Request &	source,
		const moveit::planning_interface::MoveGroupInterface &	move_group
	)		const

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 298 of file get_cartesian_path_request_features.cpp.

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