planning_interface::PlanningResponseAdapter Class Reference

Concept in MoveIt which can be used to modify the planning solution (post-processing) in a planning pipeline. PlanningResponseAdapters enable using for example smoothing and trajectory generation algorithms in sequence to produce a trajectory. More...

#include <planning_response_adapter.h>

Inheritance diagram for planning_interface::PlanningResponseAdapter:

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 void	adapt (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const =0
	Adapt the planning response.

Detailed Description

Concept in MoveIt which can be used to modify the planning solution (post-processing) in a planning pipeline. PlanningResponseAdapters enable using for example smoothing and trajectory generation algorithms in sequence to produce a trajectory.

Definition at line 52 of file planning_response_adapter.h.

Member Function Documentation

adapt()

virtual void planning_interface::PlanningResponseAdapter::adapt ( const planning_scene::PlanningSceneConstPtr &  planning_scene, const planning_interface::MotionPlanRequest &  req, planning_interface::MotionPlanResponse &  res  ) const

pure virtual

Adapt the planning response.

Parameters

planning_scene	Representation of the environment for the planning
req	Motion planning request with a set of constraints
res	Motion planning response containing the solution that is adapted.

Implemented in planning_pipeline_test::AlwaysSuccessResponseAdapter, default_planning_response_adapters::AddRuckigTrajectorySmoothing, default_planning_response_adapters::AddTimeOptimalParameterization, default_planning_response_adapters::DisplayMotionPath, and default_planning_response_adapters::ValidateSolution.

getDescription()

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

pure virtual

Get a description of this adapter.

Returns

Returns a short string that identifies the planning response adapter

Implemented in planning_pipeline_test::AlwaysSuccessResponseAdapter, default_planning_response_adapters::AddRuckigTrajectorySmoothing, default_planning_response_adapters::AddTimeOptimalParameterization, default_planning_response_adapters::DisplayMotionPath, and default_planning_response_adapters::ValidateSolution.

initialize()

virtual void planning_interface::PlanningResponseAdapter::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_response_adapters::AddTimeOptimalParameterization, default_planning_response_adapters::DisplayMotionPath, and default_planning_response_adapters::ValidateSolution.

Definition at line 59 of file planning_response_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_response_adapter.h