moveit2
The MoveIt Motion Planning Framework for ROS 2.
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MoveIt Plugin for Planning with Standard Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inheriting from PlanningContextLoader. More...
#include <pilz_industrial_motion_planner.h>
Public Member Functions | |
~CommandPlanner () override | |
bool | initialize (const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node, const std::string &ns) override |
Initializes the planner Upon initialization this planner will look for plugins implementing pilz_industrial_motion_planner::PlanningContextLoader. | |
std::string | getDescription () const override |
Description of the planner. | |
void | getPlanningAlgorithms (std::vector< std::string > &algs) const override |
Returns the available planning commands. | |
planning_interface::PlanningContextPtr | getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::msg::MoveItErrorCodes &error_code) const override |
Returns a PlanningContext that can be used to solve(calculate) the trajectory that corresponds to command given in motion request as planner_id. | |
bool | canServiceRequest (const planning_interface::MotionPlanRequest &req) const override |
Checks if the request can be handled. | |
void | registerContextLoader (const pilz_industrial_motion_planner::PlanningContextLoaderPtr &planning_context_loader) |
Register a PlanningContextLoader to be used by the CommandPlanner. | |
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PlannerManager () | |
virtual | ~PlannerManager () |
PlanningContextPtr | getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const |
Calls the function above but ignores the error_code. | |
virtual void | setPlannerConfigurations (const PlannerConfigurationMap &pcs) |
Specify the settings to be used for specific algorithms. | |
const PlannerConfigurationMap & | getPlannerConfigurations () const |
Get the settings for a specific algorithm. | |
void | terminate () const |
Request termination, if a solve() function is currently computing plans. | |
Additional Inherited Members | |
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PlannerConfigurationMap | config_settings_ |
All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used. | |
MoveIt Plugin for Planning with Standard Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inheriting from PlanningContextLoader.
Definition at line 60 of file pilz_industrial_motion_planner.h.
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inlineoverride |
Definition at line 63 of file pilz_industrial_motion_planner.h.
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overridevirtual |
Checks if the request can be handled.
motion | request containing the planning_id that corresponds to the motion command |
Implements planning_interface::PlannerManager.
Definition at line 165 of file pilz_industrial_motion_planner.cpp.
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overridevirtual |
Description of the planner.
Implements planning_interface::PlannerManager.
Definition at line 116 of file pilz_industrial_motion_planner.cpp.
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overridevirtual |
Returns the available planning commands.
list | with the planning algorithms |
Reimplemented from planning_interface::PlannerManager.
Definition at line 121 of file pilz_industrial_motion_planner.cpp.
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overridevirtual |
Returns a PlanningContext that can be used to solve(calculate) the trajectory that corresponds to command given in motion request as planner_id.
planning_scene | |
req | |
error_code |
Implements planning_interface::PlannerManager.
Definition at line 132 of file pilz_industrial_motion_planner.cpp.
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overridevirtual |
Initializes the planner Upon initialization this planner will look for plugins implementing pilz_industrial_motion_planner::PlanningContextLoader.
model | The robot model |
node | The node |
ns | The namespace |
Reimplemented from planning_interface::PlannerManager.
Definition at line 64 of file pilz_industrial_motion_planner.cpp.
void pilz_industrial_motion_planner::CommandPlanner::registerContextLoader | ( | const pilz_industrial_motion_planner::PlanningContextLoaderPtr & | planning_context_loader | ) |
Register a PlanningContextLoader to be used by the CommandPlanner.
planning_context_loader |
ContextLoaderRegistrationException | if a loader with the same algorithm name is already registered |
Definition at line 205 of file pilz_industrial_motion_planner.cpp.