Representation of a particular planning context – the planning scene and the request are known, solution is not yet computed. More...

#include <planning_interface.h>

Inheritance diagram for planning_interface::PlanningContext:

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Public Member Functions
	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.

virtual void	solve (MotionPlanResponse &res)=0
	Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

virtual void	solve (MotionPlanDetailedResponse &res)=0
	Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

virtual bool	terminate ()=0
	If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).

virtual void	clear ()=0
	Clear the data structures used by the planner.

Protected Attributes
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

Representation of a particular planning context – the planning scene and the request are known, solution is not yet computed.

Definition at line 78 of file planning_interface.h.

Constructor & Destructor Documentation

◆ PlanningContext()

planning_interface::PlanningContext::PlanningContext	(	const std::string &	name,
		const std::string &	group
	)

Construct a planning context named name for the group group.

Definition at line 70 of file planning_interface.cpp.

◆ ~PlanningContext()

planning_interface::PlanningContext::~PlanningContext ( )

virtual

Definition at line 77 of file planning_interface.cpp.

Member Function Documentation

◆ clear()

virtual void planning_interface::PlanningContext::clear ( )

pure virtual

Clear the data structures used by the planner.

Implemented in chomp_interface::CHOMPPlanningContext, ompl_interface::ModelBasedPlanningContext, pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorCIRC >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorLIN >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorPTP >, stomp_moveit::StompPlanningContext, and planning_pipeline_test::DummyPlanningContext.

◆ getGroupName()

const std::string & planning_interface::PlanningContext::getGroupName ( ) const

inline

Get the name of the group this planning context is for.

Definition at line 87 of file planning_interface.h.

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◆ getMotionPlanRequest()

const MotionPlanRequest & planning_interface::PlanningContext::getMotionPlanRequest ( ) const

inline

Get the motion plan request associated to this planning context.

Definition at line 105 of file planning_interface.h.

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◆ getName()

const std::string & planning_interface::PlanningContext::getName ( ) const

inline

Get the name of this planning context.

Definition at line 93 of file planning_interface.h.

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◆ getPlanningScene()

const planning_scene::PlanningSceneConstPtr & planning_interface::PlanningContext::getPlanningScene ( ) const

inline

Get the planning scene associated to this planning context.

Definition at line 99 of file planning_interface.h.

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◆ setMotionPlanRequest()

void planning_interface::PlanningContext::setMotionPlanRequest ( const MotionPlanRequest & request )

Set the planning request for this context.

Definition at line 89 of file planning_interface.cpp.

◆ setPlanningScene()

void planning_interface::PlanningContext::setPlanningScene ( const planning_scene::PlanningSceneConstPtr & planning_scene )

Set the planning scene for this context.

Definition at line 84 of file planning_interface.cpp.

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◆ solve() [1/2]

virtual void planning_interface::PlanningContext::solve ( MotionPlanDetailedResponse & res )

pure virtual

Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implemented in chomp_interface::CHOMPPlanningContext, ompl_interface::ModelBasedPlanningContext, pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorCIRC >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorLIN >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorPTP >, stomp_moveit::StompPlanningContext, and planning_pipeline_test::DummyPlanningContext.

◆ solve() [2/2]

virtual void planning_interface::PlanningContext::solve ( MotionPlanResponse & res )

pure virtual

Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implemented in chomp_interface::CHOMPPlanningContext, ompl_interface::ModelBasedPlanningContext, pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorCIRC >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorLIN >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorPTP >, stomp_moveit::StompPlanningContext, and planning_pipeline_test::DummyPlanningContext.

◆ terminate()

virtual bool planning_interface::PlanningContext::terminate ( )

pure virtual

If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).

Implemented in chomp_interface::CHOMPPlanningContext, ompl_interface::ModelBasedPlanningContext, pilz_industrial_motion_planner::PlanningContextBase< GeneratorT >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorCIRC >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorLIN >, pilz_industrial_motion_planner::PlanningContextBase< TrajectoryGeneratorPTP >, stomp_moveit::StompPlanningContext, and planning_pipeline_test::DummyPlanningContext.

Member Data Documentation

◆ group_

std::string planning_interface::PlanningContext::group_

protected

The group (as in the SRDF) this planning context is for.

Definition at line 136 of file planning_interface.h.

◆ name_

std::string planning_interface::PlanningContext::name_

protected

The name of this planning context.

Definition at line 133 of file planning_interface.h.

◆ planning_scene_

planning_scene::PlanningSceneConstPtr planning_interface::PlanningContext::planning_scene_

protected

The planning scene for this context.

Definition at line 139 of file planning_interface.h.

◆ request_

MotionPlanRequest planning_interface::PlanningContext::request_

protected

The planning request for this context.

Definition at line 142 of file planning_interface.h.

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

moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
moveit_core/planning_interface/src/planning_interface.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanningContext()

◆ ~PlanningContext()

Member Function Documentation

◆ clear()

◆ getGroupName()

◆ getMotionPlanRequest()

◆ getName()

◆ getPlanningScene()

◆ setMotionPlanRequest()

◆ setPlanningScene()

◆ solve() [1/2]

◆ solve() [2/2]

◆ terminate()

Member Data Documentation

◆ group_

◆ name_

◆ planning_scene_

◆ request_