moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_ros
hybrid_planning
hybrid_planning_manager
planner_logic_plugins
include
moveit
planner_logic_plugins
single_plan_execution.h
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2020, PickNik Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of PickNik Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Sebastian Jahr
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Description: This planner logic plugin runs the global planner once and starts executing the global solution
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with the local planner.
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*/
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#include <
moveit/hybrid_planning_manager/planner_logic_interface.h
>
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#include <
moveit/hybrid_planning_manager/hybrid_planning_manager.h
>
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namespace
moveit::hybrid_planning
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{
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class
SinglePlanExecution
:
public
PlannerLogicInterface
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{
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public
:
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SinglePlanExecution
() =
default
;
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~SinglePlanExecution
()
override
=
default
;
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ReactionResult
react
(
const
HybridPlanningEvent
& event)
override
;
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ReactionResult
react
(
const
std::string& event)
override
;
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private
:
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bool
local_planner_started_ =
false
;
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};
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}
// namespace moveit::hybrid_planning
moveit::hybrid_planning::PlannerLogicInterface
Definition
planner_logic_interface.h:115
moveit::hybrid_planning::SinglePlanExecution
Definition
single_plan_execution.h:46
moveit::hybrid_planning::SinglePlanExecution::~SinglePlanExecution
~SinglePlanExecution() override=default
moveit::hybrid_planning::SinglePlanExecution::SinglePlanExecution
SinglePlanExecution()=default
moveit::hybrid_planning::SinglePlanExecution::react
ReactionResult react(const HybridPlanningEvent &event) override
Definition
single_plan_execution.cpp:39
hybrid_planning_manager.h
moveit::hybrid_planning
Definition
global_planner_component.h:53
moveit::hybrid_planning::HybridPlanningEvent
HybridPlanningEvent
Definition
hybrid_planning_events.h:46
planner_logic_interface.h
moveit::hybrid_planning::ReactionResult
Definition
planner_logic_interface.h:50
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