moveit2
The MoveIt Motion Planning Framework for ROS 2.
move_group_context.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
39 #include <rclcpp/rclcpp.hpp>
40 #include <string>
42 
43 namespace moveit_cpp
44 {
46 }
47 
49 {
50 MOVEIT_CLASS_FORWARD(PlanningSceneMonitor); // Defines PlanningSceneMonitorPtr, ConstPtr, WeakPtr... etc
51 }
52 
54 {
55 MOVEIT_CLASS_FORWARD(PlanningPipeline); // Defines PlanningPipelinePtr, ConstPtr, WeakPtr... etc
56 }
57 
58 namespace plan_execution
59 {
60 MOVEIT_CLASS_FORWARD(PlanExecution); // Defines PlanExecutionPtr, ConstPtr, WeakPtr... etc
61 } // namespace plan_execution
62 
64 {
65 MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager); // Defines TrajectoryExecutionManagerPtr, ConstPtr, WeakPtr... etc
66 }
67 
68 namespace move_group
69 {
71 
73 {
74  MoveGroupContext(const moveit_cpp::MoveItCppPtr& moveit_cpp, const std::string& default_planning_pipeline,
75  bool allow_trajectory_execution = false, bool debug = false);
77 
78  bool status() const;
79 
80  moveit_cpp::MoveItCppPtr moveit_cpp_;
81  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
82  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
83  planning_pipeline::PlanningPipelinePtr planning_pipeline_;
84  plan_execution::PlanExecutionPtr plan_execution_;
86  bool debug_;
87 };
88 } // namespace move_group
This class facilitates loading planning plugins and planning adapter plugins. It implements functiona...
PlanningSceneMonitor Subscribes to the topic planning_scene.
MOVEIT_STRUCT_FORWARD(MoveGroupContext)
MOVEIT_CLASS_FORWARD(MoveItCpp)
This namespace includes functionality specific to the execution and monitoring of motion plans.
MOVEIT_CLASS_FORWARD(PlanExecution)
MOVEIT_CLASS_FORWARD(PlanningPipeline)
MOVEIT_CLASS_FORWARD(PlanningSceneMonitor)
MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager)
moveit_cpp::MoveItCppPtr moveit_cpp_
plan_execution::PlanExecutionPtr plan_execution_
trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_
MoveGroupContext(const moveit_cpp::MoveItCppPtr &moveit_cpp, const std::string &default_planning_pipeline, bool allow_trajectory_execution=false, bool debug=false)
planning_pipeline::PlanningPipelinePtr planning_pipeline_
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_