Template Class FeaturesInterface

Inheritance Relationships

Derived Types

Class Documentation

template<typename FeatureSourceT>
class FeaturesInterface

Subclassed by moveit_ros::trajectory_cache::MetadataOnlyFeature< AppendT, FeatureSourceT >, moveit_ros::trajectory_cache::QueryOnlyEqFeature< AppendT, FeatureSourceT >, moveit_ros::trajectory_cache::QueryOnlyGTEFeature< AppendT, FeatureSourceT >, moveit_ros::trajectory_cache::QueryOnlyLTEFeature< AppendT, FeatureSourceT >, moveit_ros::trajectory_cache::QueryOnlyRangeInclusiveWithToleranceFeature< AppendT, FeatureSourceT >

Public Functions

virtual ~FeaturesInterface() = default
virtual std::string getName() const = 0

Gets the name of the features implementation.

virtual moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query &query, const FeatureSourceT &source, const moveit::planning_interface::MoveGroupInterface &move_group, double exact_match_precision) const = 0

Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with fuzzy matching.

These parameters will be used key the cache element in a fuzzy manner.

Parameters:

  • query. – [inout] The query to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

  • exact_match_precision. – [in] Tolerance for float precision comparison for what counts as an exact match.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

virtual moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(warehouse_ros::Query &query, const FeatureSourceT &source, const moveit::planning_interface::MoveGroupInterface &move_group, double exact_match_precision) const = 0

Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with exact matching.

These parameters will be used key the cache element in an exact manner.

Parameters:

  • query. – [inout] The query to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

  • exact_match_precision. – [in] Tolerance for float precision comparison for what counts as an exact match.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

virtual moveit::core::MoveItErrorCode appendFeaturesAsInsertMetadata(warehouse_ros::Metadata &metadata, const FeatureSourceT &source, const moveit::planning_interface::MoveGroupInterface &move_group) const = 0

Extracts relevant features from FeatureSourceT, to be appended to a cache entry’s metadata.

These parameters will be used key the cache element.

Parameters:

  • metadata. – [inout] The metadata to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused.