moveit2
The MoveIt Motion Planning Framework for ROS 2.
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PlanningContext for obtaining CIRC trajectories. More...
#include <planning_context_circ.h>
Public Member Functions | |
PlanningContextCIRC (const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const pilz_industrial_motion_planner::LimitsContainer &limits) | |
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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. | |
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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. | |
Additional Inherited Members | |
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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. | |
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TrajectoryGeneratorCIRC | generator_ |
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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. | |
PlanningContext for obtaining CIRC trajectories.
Definition at line 57 of file planning_context_circ.h.
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inline |
Definition at line 60 of file planning_context_circ.h.