planning_interface::PlanningRequestAdapter Class Reference

Concept in MoveIt which can be used to modify the planning problem(pre-processing) in a planning pipeline. PlanningRequestAdapters enable adjusting to or validating a planning problem for a subsequent planning algorithm. More...

#include <planning_request_adapter.h>

Inheritance diagram for planning_interface::PlanningRequestAdapter:

Public Member Functions
virtual void	initialize (const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)
	Initialize parameters using the passed Node and parameter namespace.
virtual std::string	getDescription () const =0
	Get a description of this adapter.
virtual moveit::core::MoveItErrorCode	adapt (const planning_scene::PlanningSceneConstPtr &planning_scene, planning_interface::MotionPlanRequest &req) const =0
	Adapt the planning request.

Detailed Description

Concept in MoveIt which can be used to modify the planning problem(pre-processing) in a planning pipeline. PlanningRequestAdapters enable adjusting to or validating a planning problem for a subsequent planning algorithm.

Definition at line 54 of file planning_request_adapter.h.

Member Function Documentation

adapt()

virtual moveit::core::MoveItErrorCode planning_interface::PlanningRequestAdapter::adapt ( const planning_scene::PlanningSceneConstPtr &  planning_scene, planning_interface::MotionPlanRequest &  req  ) const

pure virtual

Adapt the planning request.

Parameters

planning_scene	Representation of the environment for the planning
req	Motion planning request with a set of constraints

Returns

True if response was generated correctly

Implemented in planning_pipeline_test::AlwaysSuccessRequestAdapter, default_planning_request_adapters::CheckForStackedConstraints, default_planning_request_adapters::ValidateWorkspaceBounds, default_planning_request_adapters::CheckStartStateBounds, default_planning_request_adapters::CheckStartStateCollision, and default_planning_request_adapters::ResolveConstraintFrames.

getDescription()

virtual std::string planning_interface::PlanningRequestAdapter::getDescription ( ) const

pure virtual

Get a description of this adapter.

Returns

Returns a short string that identifies the planning request adapter

Implemented in planning_pipeline_test::AlwaysSuccessRequestAdapter, default_planning_request_adapters::CheckForStackedConstraints, default_planning_request_adapters::CheckStartStateBounds, default_planning_request_adapters::CheckStartStateCollision, default_planning_request_adapters::ResolveConstraintFrames, and default_planning_request_adapters::ValidateWorkspaceBounds.

initialize()

virtual void planning_interface::PlanningRequestAdapter::initialize ( const rclcpp::Node::SharedPtr &  node, const std::string &  parameter_namespace  )

inlinevirtual

Initialize parameters using the passed Node and parameter namespace.

Parameters

node	Node instance used by the adapter
parameter_namespace	Parameter namespace for adapter

The default implementation is empty

Reimplemented in default_planning_request_adapters::CheckStartStateBounds, and default_planning_request_adapters::ValidateWorkspaceBounds.

Definition at line 61 of file planning_request_adapter.h.

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

• moveit_core/planning_interface/include/moveit/planning_interface/planning_request_adapter.h