ompl_interface::ModelBasedStateSpaceFactory Class Reference

#include <model_based_state_space_factory.h>

Inheritance diagram for ompl_interface::ModelBasedStateSpaceFactory:

Public Member Functions
	ModelBasedStateSpaceFactory ()
virtual	~ModelBasedStateSpaceFactory ()
ModelBasedStateSpacePtr	getNewStateSpace (const ModelBasedStateSpaceSpecification &space_spec) const
const std::string &	getType () const
virtual int	canRepresentProblem (const std::string &group, const moveit_msgs::msg::MotionPlanRequest &req, const moveit::core::RobotModelConstPtr &robot_model) const =0
	Decide whether the type of state space constructed by this factory could represent problems specified by the user request req for group group. The group group must always be specified and takes precedence over req.group_name, which may be different.

Protected Member Functions
virtual ModelBasedStateSpacePtr	allocStateSpace (const ModelBasedStateSpaceSpecification &space_spec) const =0

Protected Attributes
std::string	type_

Detailed Description

Definition at line 47 of file model_based_state_space_factory.h.

Constructor & Destructor Documentation

ModelBasedStateSpaceFactory()

ompl_interface::ModelBasedStateSpaceFactory::ModelBasedStateSpaceFactory ( )

inline

Definition at line 50 of file model_based_state_space_factory.h.

~ModelBasedStateSpaceFactory()

virtual ompl_interface::ModelBasedStateSpaceFactory::~ModelBasedStateSpaceFactory ( )

inlinevirtual

Definition at line 54 of file model_based_state_space_factory.h.

Member Function Documentation

allocStateSpace()

virtual ModelBasedStateSpacePtr ompl_interface::ModelBasedStateSpaceFactory::allocStateSpace ( const ModelBasedStateSpaceSpecification &  space_spec ) const

protectedpure virtual

Implemented in ompl_interface::ConstrainedPlanningStateSpaceFactory, ompl_interface::JointModelStateSpaceFactory, and ompl_interface::PoseModelStateSpaceFactory.

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canRepresentProblem()

virtual int ompl_interface::ModelBasedStateSpaceFactory::canRepresentProblem ( const std::string &  group, const moveit_msgs::msg::MotionPlanRequest &  req, const moveit::core::RobotModelConstPtr &  robot_model  ) const

pure virtual

Decide whether the type of state space constructed by this factory could represent problems specified by the user request req for group group. The group group must always be specified and takes precedence over req.group_name, which may be different.

Implemented in ompl_interface::ConstrainedPlanningStateSpaceFactory, ompl_interface::JointModelStateSpaceFactory, and ompl_interface::PoseModelStateSpaceFactory.

getNewStateSpace()

ompl_interface::ModelBasedStateSpacePtr ompl_interface::ModelBasedStateSpaceFactory::getNewStateSpace

(

const ModelBasedStateSpaceSpecification &

space_spec

)

const

Definition at line 40 of file model_based_state_space_factory.cpp.

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getType()

const std::string & ompl_interface::ModelBasedStateSpaceFactory::getType ( ) const

inline

Definition at line 60 of file model_based_state_space_factory.h.

Member Data Documentation

type_

std::string ompl_interface::ModelBasedStateSpaceFactory::type_

protected

Definition at line 74 of file model_based_state_space_factory.h.

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

• moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space_factory.h
• moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space_factory.cpp