moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_ros
hybrid_planning
local_planner
local_planner_component
include
moveit
local_planner
feedback_types.h
Go to the documentation of this file.
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* Software License Agreement (BSD License)
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* Copyright (c) 2022, PickNik Inc.
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/* Author: Andy Zelenak
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Description: Define the expected local planner feedback types (usually equivalent to failure
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modes).
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*/
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#pragma once
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#include <string>
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#include <string_view>
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#include <unordered_map>
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namespace
moveit::hybrid_planning
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{
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enum
LocalFeedbackEnum
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{
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COLLISION_AHEAD
= 1,
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LOCAL_PLANNER_STUCK
= 2
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};
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[[nodiscard]]
constexpr
std::string_view
toString
(
const
LocalFeedbackEnum
& code)
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{
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switch
(code)
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{
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case
COLLISION_AHEAD
:
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return
"Collision ahead"
;
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case
LOCAL_PLANNER_STUCK
:
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return
"Local planner is stuck"
;
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default
:
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__builtin_unreachable();
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}
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}
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}
// namespace moveit::hybrid_planning
moveit::hybrid_planning
Definition
global_planner_component.h:53
moveit::hybrid_planning::LocalFeedbackEnum
LocalFeedbackEnum
Expected feedback types.
Definition
feedback_types.h:52
moveit::hybrid_planning::LOCAL_PLANNER_STUCK
@ LOCAL_PLANNER_STUCK
Definition
feedback_types.h:54
moveit::hybrid_planning::COLLISION_AHEAD
@ COLLISION_AHEAD
Definition
feedback_types.h:53
moveit::hybrid_planning::toString
constexpr std::string_view toString(const LocalFeedbackEnum &code)
Definition
feedback_types.h:57
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