moveit2
The MoveIt Motion Planning Framework for ROS 2.
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global_planner_interface.h
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34
35/* Author: Sebastian Jahr
36 Description: Defines an interface for a global motion planner plugin implementation used in the global planner
37 component node.
38 */
39
40#pragma once
41
42#include <rclcpp/rclcpp.hpp>
43#include <rclcpp_action/rclcpp_action.hpp>
44
46
47#include <moveit_msgs/action/global_planner.hpp>
48#include <moveit_msgs/msg/motion_plan_response.hpp>
49
51{
56{
57public:
63 virtual ~GlobalPlannerInterface() = default;
68 virtual bool initialize(const rclcpp::Node::SharedPtr& node) = 0;
69
75 virtual moveit_msgs::msg::MotionPlanResponse plan(
76 const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>> global_goal_handle) = 0;
77
82 virtual bool reset() noexcept = 0;
83};
84} // namespace moveit::hybrid_planning
virtual moveit_msgs::msg::MotionPlanResponse plan(const std::shared_ptr< rclcpp_action::ServerGoalHandle< moveit_msgs::action::GlobalPlanner > > global_goal_handle)=0
GlobalPlannerInterface & operator=(const GlobalPlannerInterface &)=default
GlobalPlannerInterface(GlobalPlannerInterface &&)=default
virtual bool initialize(const rclcpp::Node::SharedPtr &node)=0
GlobalPlannerInterface(const GlobalPlannerInterface &)=default
GlobalPlannerInterface & operator=(GlobalPlannerInterface &&)=default