moveit2
The MoveIt Motion Planning Framework for ROS 2.
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trajectory_operator_interface.h
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34
35/* Author: Sebastian Jahr
36 Description: Defines an interface for a trajectory operator plugin implementation for the local planner component node.
37 */
38
39#pragma once
40
41#include <rclcpp/rclcpp.hpp>
42#include <rclcpp_action/rclcpp_action.hpp>
43
44#include <moveit_msgs/msg/robot_trajectory.hpp>
45#include <moveit_msgs/msg/constraints.hpp>
46
47#include <moveit_msgs/action/local_planner.hpp>
48
51
53{
61{
62public:
68 virtual ~TrajectoryOperatorInterface() = default;
76 virtual bool initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModelConstPtr& robot_model,
77 const std::string& group_name) = 0;
78
84 virtual moveit_msgs::action::LocalPlanner::Feedback
86
92 virtual moveit_msgs::action::LocalPlanner::Feedback
94 robot_trajectory::RobotTrajectory& local_trajectory) = 0;
95
102 virtual double getTrajectoryProgress(const moveit::core::RobotState& current_state) = 0;
103
108 virtual bool reset() = 0;
109
110protected:
111 // Reference trajectory to be processed
112 robot_trajectory::RobotTrajectoryPtr reference_trajectory_;
113 std::string group_;
114};
115} // namespace moveit::hybrid_planning
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition robot_state.h:90
TrajectoryOperatorInterface & operator=(TrajectoryOperatorInterface &&)=default
virtual bool initialize(const rclcpp::Node::SharedPtr &node, const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name)=0
TrajectoryOperatorInterface & operator=(const TrajectoryOperatorInterface &)=default
virtual moveit_msgs::action::LocalPlanner::Feedback addTrajectorySegment(const robot_trajectory::RobotTrajectory &new_trajectory)=0
TrajectoryOperatorInterface(const TrajectoryOperatorInterface &)=default
virtual moveit_msgs::action::LocalPlanner::Feedback getLocalTrajectory(const moveit::core::RobotState &current_state, robot_trajectory::RobotTrajectory &local_trajectory)=0
virtual double getTrajectoryProgress(const moveit::core::RobotState &current_state)=0
TrajectoryOperatorInterface(TrajectoryOperatorInterface &&)=default
Maintain a sequence of waypoints and the time durations between these waypoints.