solution_selection_functions.cpp

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/* Author: Sebastian Jahr */
 
#include <moveit/planning_pipeline_interfaces/solution_selection_functions.hpp>
 
namespace moveit
{
namespace planning_pipeline_interfaces
{
::planning_interface::MotionPlanResponse
getShortestSolution(const std::vector<::planning_interface::MotionPlanResponse>& solutions)
{
  // Find trajectory with minimal path
  const auto shortest_trajectory = std::min_element(solutions.begin(), solutions.end(),
                                                    [](const ::planning_interface::MotionPlanResponse& solution_a,
                                                       const ::planning_interface::MotionPlanResponse& solution_b) {
                                                      // If both solutions were successful, check which path is shorter
                                                      if (solution_a && solution_b)
                                                      {
                                                        return robot_trajectory::pathLength(*solution_a.trajectory) <
                                                               robot_trajectory::pathLength(*solution_b.trajectory);
                                                      }
                                                      // If only solution a is successful, return a
                                                      else if (solution_a)
                                                      {
                                                        return true;
                                                      }
                                                      // Else return solution b, either because it is successful or not
                                                      return false;
                                                    });
  return *shortest_trajectory;
}
 
}  // namespace planning_pipeline_interfaces
}  // namespace moveit