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The MoveIt Motion Planning Framework for ROS 2.
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pilz_industrial_motion_planner::PlanningContextCIRC Class Reference

PlanningContext for obtaining CIRC trajectories. More...

#include <planning_context_circ.h>

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Public Member Functions

 PlanningContextCIRC (const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const pilz_industrial_motion_planner::LimitsContainer &limits)
 
- Public Member Functions inherited from pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorCIRC >
 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. More...
 
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". More...
 
bool terminate () override
 Will terminate solve() More...
 
void clear () override
 Clear the data structures used by the planner. More...
 
- 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. More...
 
virtual ~PlanningContext ()
 
const std::string & getGroupName () const
 Get the name of the group this planning context is for. More...
 
const std::string & getName () const
 Get the name of this planning context. More...
 
const planning_scene::PlanningSceneConstPtr & getPlanningScene () const
 Get the planning scene associated to this planning context. More...
 
const MotionPlanRequestgetMotionPlanRequest () const
 Get the motion plan request associated to this planning context. More...
 
void setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
 Set the planning scene for this context. More...
 
void setMotionPlanRequest (const MotionPlanRequest &request)
 Set the planning request for this context. More...
 

Additional Inherited Members

- Public Attributes inherited from pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorCIRC >
std::atomic_bool terminated_
 Flag if terminated. More...
 
moveit::core::RobotModelConstPtr model_
 The robot model. More...
 
pilz_industrial_motion_planner::LimitsContainer limits_
 Joint limits to be used during planning. More...
 
- Protected Attributes inherited from pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorCIRC >
TrajectoryGeneratorCIRC generator_
 
- Protected Attributes inherited from planning_interface::PlanningContext
std::string name_
 The name of this planning context. More...
 
std::string group_
 The group (as in the SRDF) this planning context is for. More...
 
planning_scene::PlanningSceneConstPtr planning_scene_
 The planning scene for this context. More...
 
MotionPlanRequest request_
 The planning request for this context. More...
 

Detailed Description

PlanningContext for obtaining CIRC trajectories.

Definition at line 57 of file planning_context_circ.h.

Constructor & Destructor Documentation

◆ PlanningContextCIRC()

pilz_industrial_motion_planner::PlanningContextCIRC::PlanningContextCIRC ( const std::string &  name,
const std::string &  group,
const moveit::core::RobotModelConstPtr &  model,
const pilz_industrial_motion_planner::LimitsContainer limits 
)
inline

Definition at line 60 of file planning_context_circ.h.


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