moveit2
The MoveIt Motion Planning Framework for ROS 2.
joint_model_state_space_factory.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 
41 {
43 }
44 
46  const std::string& /*group*/, const moveit_msgs::msg::MotionPlanRequest& /*req*/,
47  const moveit::core::RobotModelConstPtr& /*robot_model*/) const
48 {
49  return 100;
50 }
51 
52 ompl_interface::ModelBasedStateSpacePtr
54 {
55  return std::make_shared<JointModelStateSpace>(space_spec);
56 }
ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const override
int canRepresentProblem(const std::string &group, const moveit_msgs::msg::MotionPlanRequest &req, const moveit::core::RobotModelConstPtr &robot_model) const override
Decide whether the type of state space constructed by this factory could represent problems specified...
static const std::string PARAMETERIZATION_TYPE
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest