Extracts group name and details of the workspace_parameters field in the plan request.
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#include <motion_plan_request_features.hpp>
Public Member Functions | |
| WorkspaceFeatures () | |
| 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 group name and details of the workspace_parameters field in the plan request.
A cache hit with this feature is valid if the requested planning constraints has a workspace that completely subsumes a cached entry's workspace.
For example: (We ignore z for simplicity) If workspace is defined by the extrema (x_min, y_min, x_max, y_max),
Potential valid match if other constraints fulfilled: Request: (-1, -1, 1, 1) Plan in cache: (-0.5, -0.5, 0.5, 0.5)
No match, since this plan might cause the end effector to go out of bounds.: Request: (-1, -1, 1, 1) Plan in cache: (-2, -0.5, 0.5, 0.5)
Definition at line 55 of file motion_plan_request_features.hpp.
Constructor & Destructor Documentation
◆ WorkspaceFeatures()
| moveit_ros::trajectory_cache::WorkspaceFeatures::WorkspaceFeatures | ( | ) |
Definition at line 50 of file motion_plan_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::msg::MotionPlanRequest >.
Definition at line 66 of file motion_plan_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::msg::MotionPlanRequest >.
Definition at line 59 of file motion_plan_request_features.cpp.
◆ appendFeaturesAsInsertMetadata()
|
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 82 of file motion_plan_request_features.cpp.
◆ getName()
|
overridevirtual |
Gets the name of the features implementation.
Implements moveit_ros::trajectory_cache::FeaturesInterface< moveit_msgs::msg::MotionPlanRequest >.
Definition at line 54 of file motion_plan_request_features.cpp.
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
