planning_context_loader_ptp.cpp

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#include <pilz_industrial_motion_planner/planning_context_loader_ptp.h>
#include <moveit/planning_scene/planning_scene.h>
#include <pilz_industrial_motion_planner/planning_context_ptp.h>
#include <moveit/utils/logger.hpp>
 
#include <pluginlib/class_list_macros.hpp>
 
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("pilz_planning_context_loader_ptp");
}
}  // namespace
 
pilz_industrial_motion_planner::PlanningContextLoaderPTP::PlanningContextLoaderPTP()
{
  alg_ = "PTP";
}
 
pilz_industrial_motion_planner::PlanningContextLoaderPTP::~PlanningContextLoaderPTP()
{
}
 
bool pilz_industrial_motion_planner::PlanningContextLoaderPTP::loadContext(
    planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
{
  if (limits_set_ && model_set_)
  {
    planning_context = std::make_shared<PlanningContextPTP>(name, group, model_, limits_);
    return true;
  }
  else
  {
    if (!limits_set_)
    {
      RCLCPP_ERROR_STREAM(getLogger(),
                          "Joint Limits are not defined. Cannot load planning context. Call setLimits loadContext");
    }
    if (!model_set_)
    {
      RCLCPP_ERROR_STREAM(getLogger(), "Robot model was not set");
    }
    return false;
  }
}
 
PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::PlanningContextLoaderPTP,
                       pilz_industrial_motion_planner::PlanningContextLoader)