Class CpMotionPlanner

Inheritance Relationships

Base Type

  • public smacc2::ISmaccComponent

Class Documentation

class CpMotionPlanner : public smacc2::ISmaccComponent

Component for centralized motion planning operations.

This component wraps all MoveGroupInterface planning operations to provide a consistent interface for planning motions. It supports planning to:

  • Cartesian poses

  • Joint configurations

  • Named targets

  • Cartesian paths

Pattern: API wrapper component with result types

Public Functions

CpMotionPlanner() = default
virtual ~CpMotionPlanner() = default
inline void onInitialize() override

Initialize the component and get reference to ClMoveit2z client.

inline PlanningResult planToPose(const geometry_msgs::msg::PoseStamped &target, const std::optional<std::string> &tipLink = std::nullopt, const PlanningOptions &options = {})

Plan to a Cartesian pose.

Parameters:

  • target – Target pose (position and orientation)

  • tipLink – End effector tip link (optional, uses default if not specified)

  • options – Planning configuration options

Returns:

PlanningResult with success status and computed plan

inline PlanningResult planToJointTarget(const std::map<std::string, double> &jointTargets, const PlanningOptions &options = {})

Plan to joint values.

Parameters:

  • jointTargets – Map of joint names to target values

  • options – Planning configuration options

Returns:

PlanningResult with success status and computed plan

inline PlanningResult planCartesianPath(const std::vector<geometry_msgs::msg::Pose> &waypoints, double maxStep = 0.01, double jumpThreshold = 0.0, bool avoidCollisions = true)

Plan a Cartesian path.

Parameters:

  • waypoints – Vector of waypoint poses

  • maxStep – Maximum distance between path points (meters)

  • jumpThreshold – Maximum joint jump threshold (0.0 = disabled)

  • avoidCollisions – Whether to check for collisions

Returns:

PlanningResult with success status and computed trajectory

inline moveit::core::RobotStatePtr getCurrentState(double waitTime = 1.0)

Get current robot state.

Parameters:

waitTime – Maximum time to wait for state (seconds)

Returns:

Pointer to current robot state, or nullptr if unavailable