PlanningContext for obtaining trajectories. More...

#include <planning_context_base.h>

Inheritance diagram for pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >:

Collaboration diagram for pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >:

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Public Member Functions
	PlanningContextBase (const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const pilz_industrial_motion_planner::LimitsContainer &limits)

	~PlanningContextBase () override

void	solve (planning_interface::MotionPlanResponse &res) override
	Calculates a trajectory for the request this context is currently set for.

void	solve (planning_interface::MotionPlanDetailedResponse &res) override
	Will return the same trajectory as solve(planning_interface::MotionPlanResponse& res) This function just delegates to the common response however here the same trajectory is stored with the descriptions "plan", "simplify", "interpolate".

bool	terminate () override
	Will terminate solve()

void	clear () override
	Clear the data structures used by the planner.

Public Member Functions inherited from planning_interface::PlanningContext
	PlanningContext (const std::string &name, const std::string &group)
	Construct a planning context named name for the group group.

virtual	~PlanningContext ()

const std::string &	getGroupName () const
	Get the name of the group this planning context is for.

const std::string &	getName () const
	Get the name of this planning context.

const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Get the planning scene associated to this planning context.

const MotionPlanRequest &	getMotionPlanRequest () const
	Get the motion plan request associated to this planning context.

void	setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
	Set the planning scene for this context.

void	setMotionPlanRequest (const MotionPlanRequest &request)
	Set the planning request for this context.

Public Attributes
std::atomic_bool	terminated_
	Flag if terminated.

moveit::core::RobotModelConstPtr	model_
	The robot model.

pilz_industrial_motion_planner::LimitsContainer	limits_
	Joint limits to be used during planning.

Protected Attributes
GeneratorT	generator_

Protected Attributes inherited from planning_interface::PlanningContext
std::string	name_
	The name of this planning context.

std::string	group_
	The group (as in the SRDF) this planning context is for.

planning_scene::PlanningSceneConstPtr	planning_scene_
	The planning scene for this context.

MotionPlanRequest	request_
	The planning request for this context.

Detailed Description

template<typename GeneratorT>
class pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >

PlanningContext for obtaining trajectories.

Definition at line 56 of file planning_context_base.h.

Constructor & Destructor Documentation

◆ PlanningContextBase()

template<typename GeneratorT >

pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::PlanningContextBase	(	const std::string &	name,
		const std::string &	group,
		const moveit::core::RobotModelConstPtr &	model,
		const pilz_industrial_motion_planner::LimitsContainer &	limits
	)

inline

Definition at line 165 of file planning_context_base.h.

◆ ~PlanningContextBase()

template<typename GeneratorT >

pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::~PlanningContextBase ( )

inlineoverride

Definition at line 70 of file planning_context_base.h.

Member Function Documentation

◆ clear()

template<typename GeneratorT >

void pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::clear ( )

overridevirtual

Clear the data structures used by the planner.

Implements planning_interface::PlanningContext.

Definition at line 165 of file planning_context_base.h.

◆ solve() [1/2]

template<typename GeneratorT >

void pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::solve ( planning_interface::MotionPlanDetailedResponse & res )

overridevirtual

Will return the same trajectory as solve(planning_interface::MotionPlanResponse& res) This function just delegates to the common response however here the same trajectory is stored with the descriptions "plan", "simplify", "interpolate".

Parameters

res	The detailed response

Returns: true on success, false otherwise

Implements planning_interface::PlanningContext.

Definition at line 133 of file planning_context_base.h.

◆ solve() [2/2]

template<typename GeneratorT >

void pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::solve ( planning_interface::MotionPlanResponse & res )

overridevirtual

Calculates a trajectory for the request this context is currently set for.

Parameters

res	The result containing the respective trajectory, or error_code on failure

Returns: true on success, false otherwise

Implements planning_interface::PlanningContext.

Definition at line 120 of file planning_context_base.h.

◆ terminate()

template<typename GeneratorT >

bool pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::terminate ( )

overridevirtual

Will terminate solve()

Returns

Note: Currently will not stop a running solve but not start future solves.

Implements planning_interface::PlanningContext.

Definition at line 156 of file planning_context_base.h.

Member Data Documentation

◆ generator_

template<typename GeneratorT >

GeneratorT pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::generator_

protected

Definition at line 116 of file planning_context_base.h.

◆ limits_

template<typename GeneratorT >

pilz_industrial_motion_planner::LimitsContainer pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::limits_

Joint limits to be used during planning.

Definition at line 113 of file planning_context_base.h.

◆ model_

template<typename GeneratorT >

moveit::core::RobotModelConstPtr pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::model_

The robot model.

Definition at line 110 of file planning_context_base.h.

◆ terminated_

template<typename GeneratorT >

std::atomic_bool pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >::terminated_

Flag if terminated.

Definition at line 107 of file planning_context_base.h.

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

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_base.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanningContextBase()

◆ ~PlanningContextBase()

Member Function Documentation

◆ clear()

◆ solve() [1/2]

◆ solve() [2/2]

◆ terminate()

Member Data Documentation

◆ generator_

◆ limits_

◆ model_

◆ terminated_