#include <stomp_moveit_planning_context.hpp>

Inheritance diagram for stomp_moveit::StompPlanningContext:

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Public Member Functions
	StompPlanningContext (const std::string &name, const std::string &group_name, const stomp_moveit::Params &params)

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.

void	setPathPublisher (const std::shared_ptr< rclcpp::Publisher< visualization_msgs::msg::MarkerArray > > &path_publisher)

std::shared_ptr< rclcpp::Publisher< visualization_msgs::msg::MarkerArray > >	getPathPublisher ()

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

Definition at line 54 of file stomp_moveit_planning_context.hpp.

Constructor & Destructor Documentation

◆ StompPlanningContext()

stomp_moveit::StompPlanningContext::StompPlanningContext	(	const std::string &	name,
		const std::string &	group_name,
		const stomp_moveit::Params &	params
	)

Definition at line 209 of file stomp_moveit_planning_context.cpp.

Member Function Documentation

◆ clear()

void stomp_moveit::StompPlanningContext::clear ( )

overridevirtual

Clear the data structures used by the planner.

Implements planning_interface::PlanningContext.

Definition at line 300 of file stomp_moveit_planning_context.cpp.

◆ getPathPublisher()

std::shared_ptr< rclcpp::Publisher< visualization_msgs::msg::MarkerArray > > stomp_moveit::StompPlanningContext::getPathPublisher ( )

Definition at line 310 of file stomp_moveit_planning_context.cpp.

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◆ setPathPublisher()

void stomp_moveit::StompPlanningContext::setPathPublisher ( const std::shared_ptr< rclcpp::Publisher< visualization_msgs::msg::MarkerArray > > & path_publisher )

Definition at line 304 of file stomp_moveit_planning_context.cpp.

◆ solve() [1/2]

void stomp_moveit::StompPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse & res )

overridevirtual

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 280 of file stomp_moveit_planning_context.cpp.

◆ solve() [2/2]

void stomp_moveit::StompPlanningContext::solve ( planning_interface::MotionPlanResponse & res )

overridevirtual

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 215 of file stomp_moveit_planning_context.cpp.

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