moveit_ros::trajectory_cache::StartStateJointStateFeatures Class Reference

Extracts details of the joint state from the start_state field in the plan request. More...

#include <motion_plan_request_features.hpp>

Inheritance diagram for moveit_ros::trajectory_cache::StartStateJointStateFeatures:

Collaboration diagram for moveit_ros::trajectory_cache::StartStateJointStateFeatures:

Public Member Functions
	StartStateJointStateFeatures (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::msg::MotionPlanRequest &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::msg::MotionPlanRequest &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::msg::MotionPlanRequest &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::msg::MotionPlanRequest >
virtual	~FeaturesInterface ()=default

Detailed Description

Extracts details of the joint state from the start_state field in the plan request.

The start state will always be re-interpreted into explicit joint state positions.

WARNING: MultiDOF joints and attached collision objects are not supported.

See also

appendRobotStateJointStateAsFetchQueryWithTolerance

appendRobotStateJointStateAsInsertMetadata

Definition at line 91 of file motion_plan_request_features.hpp.

Constructor & Destructor Documentation

StartStateJointStateFeatures()

moveit_ros::trajectory_cache::StartStateJointStateFeatures::StartStateJointStateFeatures

(

double

match_tolerance

)

Definition at line 99 of file motion_plan_request_features.cpp.

Member Function Documentation

appendFeaturesAsExactFetchQuery()

MoveItErrorCode moveit_ros::trajectory_cache::StartStateJointStateFeatures::appendFeaturesAsExactFetchQuery ( warehouse_ros::Query &  query, const moveit_msgs::msg::MotionPlanRequest &  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::msg::MotionPlanRequest >.

Definition at line 117 of file motion_plan_request_features.cpp.

appendFeaturesAsFuzzyFetchQuery()

MoveItErrorCode moveit_ros::trajectory_cache::StartStateJointStateFeatures::appendFeaturesAsFuzzyFetchQuery ( warehouse_ros::Query &  query, const moveit_msgs::msg::MotionPlanRequest &  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::msg::MotionPlanRequest >.

Definition at line 109 of file motion_plan_request_features.cpp.

appendFeaturesAsInsertMetadata()

MoveItErrorCode moveit_ros::trajectory_cache::StartStateJointStateFeatures::appendFeaturesAsInsertMetadata ( warehouse_ros::Metadata &  metadata, const moveit_msgs::msg::MotionPlanRequest &  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::msg::MotionPlanRequest >.

Definition at line 125 of file motion_plan_request_features.cpp.

Here is the call graph for this function:

getName()

std::string moveit_ros::trajectory_cache::StartStateJointStateFeatures::getName ( ) const

overridevirtual

Gets the name of the features implementation.

Implements moveit_ros::trajectory_cache::FeaturesInterface< moveit_msgs::msg::MotionPlanRequest >.

Definition at line 104 of file motion_plan_request_features.cpp.

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

• moveit_ros/trajectory_cache/include/moveit/trajectory_cache/features/motion_plan_request_features.hpp
• moveit_ros/trajectory_cache/src/features/motion_plan_request_features.cpp