moveit2
The MoveIt Motion Planning Framework for ROS 2.
resolve_constraint_frames.cpp
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34 
35 /* Author: Robert Haschke
36  Desc: This adapter changes the link_name field of a constraint from an object's (sub-)frame name to the name of the
37  robot link, that the object is attached to. Transforming the frame names is necessary because the frames of an
38  attached object are not known to a planner.
39 */
40 
43 #include <class_loader/class_loader.hpp>
44 #include <moveit/utils/logger.hpp>
45 
47 {
50 {
51 public:
52  ResolveConstraintFrames() : logger_(moveit::getLogger("resolve_constraint_frames"))
53  {
54  }
55 
56  [[nodiscard]] std::string getDescription() const override
57  {
58  return std::string("ResolveConstraintFrames");
59  }
60 
61  [[nodiscard]] moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr& planning_scene,
62  planning_interface::MotionPlanRequest& req) const override
63  {
64  RCLCPP_DEBUG(logger_, "Running '%s'", getDescription().c_str());
65  // Resolve path constraint frames
66  kinematic_constraints::resolveConstraintFrames(planning_scene->getCurrentState(), req.path_constraints);
67  // Resolve goal constraint frames
68  for (moveit_msgs::msg::Constraints& constraint : req.goal_constraints)
69  {
70  kinematic_constraints::resolveConstraintFrames(planning_scene->getCurrentState(), constraint);
71  }
72  return moveit::core::MoveItErrorCode(moveit_msgs::msg::MoveItErrorCodes::SUCCESS, std::string(""), getDescription());
73  }
74 
75 private:
76  rclcpp::Logger logger_;
77 };
78 
79 } // namespace default_planning_request_adapters
80 
Transforms frames used in constraints to link frames in the robot model.
std::string getDescription() const override
Get a description of this adapter.
moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr &planning_scene, planning_interface::MotionPlanRequest &req) const override
Adapt the planning request.
a wrapper around moveit_msgs::MoveItErrorCodes to make it easier to return an error code message from...
Concept in MoveIt which can be used to modify the planning problem(pre-processing) in a planning pipe...
bool resolveConstraintFrames(const moveit::core::RobotState &state, moveit_msgs::msg::Constraints &constraints)
Resolves frames used in constraints to links in the robot model.
Definition: utils.cpp:622
Main namespace for MoveIt.
Definition: exceptions.h:43
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest
This namespace includes the central class for representing planning contexts.
CLASS_LOADER_REGISTER_CLASS(default_planning_request_adapters::ResolveConstraintFrames, planning_interface::PlanningRequestAdapter)