47 trajectory->getRobotTrajectoryMsg(msg.trajectory);
54 msg.error_code = error_code;
56 msg.trajectory.clear();
57 msg.description.clear();
58 msg.processing_time.clear();
62 for (std::size_t i = 0; i < trajectory.size(); ++i)
64 if (trajectory[i]->empty())
70 msg.group_name = trajectory[i]->getGroupName();
72 msg.trajectory.resize(msg.trajectory.size() + 1);
73 trajectory[i]->getRobotTrajectoryMsg(msg.trajectory.back());
76 if (processing_time.size() > i)
77 msg.processing_time.push_back(processing_time[i]);
void robotStateToRobotStateMsg(const RobotState &state, moveit_msgs::msg::RobotState &robot_state, bool copy_attached_bodies=true)
Convert a MoveIt robot state to a robot state message.
void getMessage(moveit_msgs::msg::MotionPlanDetailedResponse &msg) const
moveit::core::MoveItErrorCode error_code
robot_trajectory::RobotTrajectoryPtr trajectory
void getMessage(moveit_msgs::msg::MotionPlanResponse &msg) const
Construct a ROS message from struct data.