moveit2
The MoveIt Motion Planning Framework for ROS 2.
plan_representation.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
41 #include <moveit_msgs/msg/move_it_error_codes.hpp>
42 #include <functional>
43 
44 namespace plan_execution
45 {
46 struct ExecutableMotionPlan;
47 
50 {
52  {
53  }
54 
55  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description,
56  std::vector<std::string> controller_names = {})
59  , trajectory_monitoring(true)
60  , controller_name(std::move(controller_names))
61  {
62  }
63 
64  robot_trajectory::RobotTrajectoryPtr trajectory;
65  std::string description;
67  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix;
68  std::function<bool(const ExecutableMotionPlan*)> effect_on_success;
69  std::vector<std::string> controller_name;
70 };
71 
74 {
75  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor;
76  planning_scene::PlanningSceneConstPtr planning_scene;
77 
78  std::vector<ExecutableTrajectory> plan_components;
79 
81  robot_trajectory::RobotTrajectoryPtr executed_trajectory;
82 
84  moveit_msgs::msg::MoveItErrorCodes error_code;
85 };
86 
89 } // namespace plan_execution
This namespace includes functionality specific to the execution and monitoring of motion plans.
std::function< bool(ExecutableMotionPlan &)> ExecutableMotionPlanComputationFn
The signature of a function that can compute a motion plan.
A generic representation on what a computed motion plan looks like.
std::vector< ExecutableTrajectory > plan_components
robot_trajectory::RobotTrajectoryPtr executed_trajectory
The trace of the trajectory recorded during execution.
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor
planning_scene::PlanningSceneConstPtr planning_scene
moveit_msgs::msg::MoveItErrorCodes error_code
An error code reflecting what went wrong (if anything)
Representation of a trajectory that can be executed.
robot_trajectory::RobotTrajectoryPtr trajectory
collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix
std::vector< std::string > controller_name
ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr &trajectory, const std::string &description, std::vector< std::string > controller_names={})
std::function< bool(const ExecutableMotionPlan *)> effect_on_success