stopping_criterion_function.cpp

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/* Author: Sebastian Jahr */
 
#include <moveit/planning_pipeline_interfaces/stopping_criterion_functions.hpp>
 
namespace moveit
{
namespace planning_pipeline_interfaces
{
bool stopAtFirstSolution(const PlanResponsesContainer& plan_responses_container,
                         const std::vector<::planning_interface::MotionPlanRequest>& /*plan_requests*/)
{
  // Stop at the first successful plan
  for (const auto& solution : plan_responses_container.getSolutions())
  {
    // bool(solution) is shorthand to evaluate the error code of the solution, checking for SUCCESS
    if (bool(solution))
    {
      // Return true to abort the other pipelines
      return true;
    }
  }
  // Return false when parallel planning should continue because it hasn't found a successful solution yet
  return false;
}
}  // namespace planning_pipeline_interfaces
}  // namespace moveit