A dummy planning context that does nothing and is always successful. More...

Inheritance diagram for planning_pipeline_test::DummyPlanningContext:

Collaboration diagram for planning_pipeline_test::DummyPlanningContext:

Public Member Functions
	DummyPlanningContext ()

void	solve (planning_interface::MotionPlanResponse &res) override
	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.

void	solve (planning_interface::MotionPlanDetailedResponse &res) override
	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.

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

void	clear () override
	Clear the data structures used by the planner.

Public Member Functions inherited from planning_interface::PlanningContext
	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
Protected Attributes inherited from planning_interface::PlanningContext
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

A dummy planning context that does nothing and is always successful.

Definition at line 81 of file planning_pipeline_test_plugins.cpp.

Constructor & Destructor Documentation

◆ DummyPlanningContext()

planning_pipeline_test::DummyPlanningContext::DummyPlanningContext ( )

inline

Definition at line 84 of file planning_pipeline_test_plugins.cpp.

Member Function Documentation

◆ clear()

void planning_pipeline_test::DummyPlanningContext::clear ( )

inlineoverridevirtual

Clear the data structures used by the planner.

Implements planning_interface::PlanningContext.

Definition at line 104 of file planning_pipeline_test_plugins.cpp.

◆ solve() [1/2]

void planning_pipeline_test::DummyPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse & res )

inlineoverridevirtual

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.

Implements planning_interface::PlanningContext.

Definition at line 94 of file planning_pipeline_test_plugins.cpp.

◆ solve() [2/2]

void planning_pipeline_test::DummyPlanningContext::solve ( planning_interface::MotionPlanResponse & res )

inlineoverridevirtual

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.

Implements planning_interface::PlanningContext.

Definition at line 87 of file planning_pipeline_test_plugins.cpp.