41#include <rclcpp/rclcpp.hpp>
42#include <rclcpp_action/rclcpp_action.hpp>
47#include <moveit_msgs/msg/robot_trajectory.hpp>
48#include <moveit_msgs/msg/constraints.hpp>
50#include <moveit_msgs/action/local_planner.hpp>
52#include <trajectory_msgs/msg/joint_trajectory.hpp>
72 virtual bool initialize(
const rclcpp::Node::SharedPtr& node,
74 const std::string& group_name) = 0;
83 virtual moveit_msgs::action::LocalPlanner::Feedback
85 const std::shared_ptr<const moveit_msgs::action::LocalPlanner::Goal> local_goal,
86 trajectory_msgs::msg::JointTrajectory& local_solution) = 0;
LocalConstraintSolverInterface(LocalConstraintSolverInterface &&)=default
virtual ~LocalConstraintSolverInterface()=default
virtual bool initialize(const rclcpp::Node::SharedPtr &node, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const std::string &group_name)=0
LocalConstraintSolverInterface()=default
LocalConstraintSolverInterface(const LocalConstraintSolverInterface &)=default
virtual moveit_msgs::action::LocalPlanner::Feedback solve(const robot_trajectory::RobotTrajectory &local_trajectory, const std::shared_ptr< const moveit_msgs::action::LocalPlanner::Goal > local_goal, trajectory_msgs::msg::JointTrajectory &local_solution)=0
LocalConstraintSolverInterface & operator=(const LocalConstraintSolverInterface &)=default
LocalConstraintSolverInterface & operator=(LocalConstraintSolverInterface &&)=default
Maintain a sequence of waypoints and the time durations between these waypoints.