planning_pipeline_test::DummyPlannerManager Class Reference

A dummy planning manager that does nothing. More...

Inheritance diagram for planning_pipeline_test::DummyPlannerManager:

Collaboration diagram for planning_pipeline_test::DummyPlannerManager:

Public Member Functions
	~DummyPlannerManager () override
planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &, const planning_interface::MotionPlanRequest &, moveit_msgs::msg::MoveItErrorCodes &) const override
	Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed.
bool	canServiceRequest (const planning_interface::MotionPlanRequest &) const override
	Determine whether this plugin instance is able to represent this planning request.
std::string	getDescription () const override
	Get a short string that identifies the planning interface.
Public Member Functions inherited from planning_interface::PlannerManager
	PlannerManager ()
virtual	~PlannerManager ()
virtual bool	initialize (const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)
virtual void	getPlanningAlgorithms (std::vector< std::string > &algs) const
	Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request).
PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const
	Calls the function above but ignores the error_code.
virtual void	setPlannerConfigurations (const PlannerConfigurationMap &pcs)
	Specify the settings to be used for specific algorithms.
const PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the settings for a specific algorithm.
void	terminate () const
	Request termination, if a solve() function is currently computing plans.

Additional Inherited Members
Protected Attributes inherited from planning_interface::PlannerManager
PlannerConfigurationMap	config_settings_
	All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used.

Detailed Description

A dummy planning manager that does nothing.

Definition at line 108 of file planning_pipeline_test_plugins.cpp.

Constructor & Destructor Documentation

~DummyPlannerManager()

planning_pipeline_test::DummyPlannerManager::~DummyPlannerManager ( )

inlineoverride

Definition at line 111 of file planning_pipeline_test_plugins.cpp.

Member Function Documentation

canServiceRequest()

bool planning_pipeline_test::DummyPlannerManager::canServiceRequest ( const planning_interface::MotionPlanRequest & req ) const

inlineoverridevirtual

Determine whether this plugin instance is able to represent this planning request.

Implements planning_interface::PlannerManager.

Definition at line 121 of file planning_pipeline_test_plugins.cpp.

getDescription()

std::string planning_pipeline_test::DummyPlannerManager::getDescription ( ) const

inlineoverridevirtual

Get a short string that identifies the planning interface.

Implements planning_interface::PlannerManager.

Definition at line 125 of file planning_pipeline_test_plugins.cpp.

getPlanningContext()

planning_interface::PlanningContextPtr planning_pipeline_test::DummyPlannerManager::getPlanningContext ( const planning_scene::PlanningSceneConstPtr & planning_scene, const planning_interface::MotionPlanRequest & req, moveit_msgs::msg::MoveItErrorCodes & error_code ) const

inlineoverridevirtual

Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed.

Parameters

planning_scene	A const planning scene to use for planning
req	The representation of the planning request
error_code	This is where the error is set if constructing the planning context fails

Implements planning_interface::PlannerManager.

Definition at line 115 of file planning_pipeline_test_plugins.cpp.

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

• moveit_ros/planning/planning_pipeline/test/planning_pipeline_test_plugins.cpp