moveit2
The MoveIt Motion Planning Framework for ROS 2.
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model_based_state_space_factory.h
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34
35/* Author: Ioan Sucan */
36
37#pragma once
38
41#include <moveit_msgs/msg/motion_plan_request.hpp>
42
43namespace ompl_interface
44{
45MOVEIT_CLASS_FORWARD(ModelBasedStateSpaceFactory); // Defines ModelBasedStateSpaceFactoryPtr, ConstPtr, WeakPtr... etc
46
48{
49public:
53
55 {
56 }
57
58 ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const;
59
60 const std::string& getType() const
61 {
62 return type_;
63 }
64
69 virtual int canRepresentProblem(const std::string& group, const moveit_msgs::msg::MotionPlanRequest& req,
70 const moveit::core::RobotModelConstPtr& robot_model) const = 0;
71
72protected:
73 virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const = 0;
74 std::string type_;
75};
76} // namespace ompl_interface
#define MOVEIT_CLASS_FORWARD(C)
ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const
virtual int canRepresentProblem(const std::string &group, const moveit_msgs::msg::MotionPlanRequest &req, const moveit::core::RobotModelConstPtr &robot_model) const =0
Decide whether the type of state space constructed by this factory could represent problems specified...
virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const =0
The MoveIt interface to OMPL.