Representation of a particular planning context -- the planning scene and the request are known, solution is not yet computed. More...

#include <planning_interface.h>

Public Member Functions
virtual void	clear ()=0
	Clear the data structures used by the planner.
const std::string &	getGroupName () const
	Get the name of the group this planning context is for.
const MotionPlanRequest &	getMotionPlanRequest () const
	Get the motion plan request associated to this planning context.
const std::string &	getName () const
	Get the name of this planning context.
const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Get the planning scene associated to this planning context.
	PlanningContext (const std::string &name, const std::string &group)
	Construct a planning context named name for the group group.
void	setMotionPlanRequest (const MotionPlanRequest &request)
	Set the planning request for this context.
void	setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
	Set the planning scene for this context.
virtual bool	solve (MotionPlanResponse &res)=0
	Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.
virtual bool	solve (MotionPlanDetailedResponse &res)=0
	Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.
virtual bool	terminate ()=0
	If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).
virtual	~PlanningContext ()
Protected Attributes
std::string	group_
	The group (as in the SRDF) this planning context is for.
std::string	name_
	The name of this planning context.
planning_scene::PlanningSceneConstPtr	planning_scene_
	The planning scene for this context.
MotionPlanRequest	request_
	The planning request for this context.

Detailed Description

Representation of a particular planning context -- the planning scene and the request are known, solution is not yet computed.

Definition at line 74 of file planning_interface.h.

Constructor & Destructor Documentation

planning_interface::PlanningContext::PlanningContext	(	const std::string &	name,
		const std::string &	group
	)

Construct a planning context named name for the group group.

Definition at line 57 of file planning_interface.cpp.

planning_interface::PlanningContext::~PlanningContext ( ) [virtual]

Definition at line 66 of file planning_interface.cpp.

Member Function Documentation

virtual void planning_interface::PlanningContext::clear ( ) [pure virtual]

Clear the data structures used by the planner.

const std::string& planning_interface::PlanningContext::getGroupName ( ) const [inline]

Get the name of the group this planning context is for.

Definition at line 84 of file planning_interface.h.

const MotionPlanRequest& planning_interface::PlanningContext::getMotionPlanRequest ( ) const [inline]

Get the motion plan request associated to this planning context.

Definition at line 102 of file planning_interface.h.

const std::string& planning_interface::PlanningContext::getName ( ) const [inline]

Get the name of this planning context.

Definition at line 90 of file planning_interface.h.

const planning_scene::PlanningSceneConstPtr& planning_interface::PlanningContext::getPlanningScene ( ) const [inline]

Get the planning scene associated to this planning context.

Definition at line 96 of file planning_interface.h.

void planning_interface::PlanningContext::setMotionPlanRequest ( const MotionPlanRequest & request )

Set the planning request for this context.

Definition at line 78 of file planning_interface.cpp.

void planning_interface::PlanningContext::setPlanningScene ( const planning_scene::PlanningSceneConstPtr & planning_scene )

Set the planning scene for this context.

Definition at line 73 of file planning_interface.cpp.

virtual bool planning_interface::PlanningContext::solve ( MotionPlanResponse & res ) [pure virtual]

Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

virtual bool planning_interface::PlanningContext::solve ( MotionPlanDetailedResponse & res ) [pure virtual]

Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

virtual bool planning_interface::PlanningContext::terminate ( ) [pure virtual]

If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).