Template Class PlanningContextBase

Inheritance Relationships

Base Type

  • public planning_interface::PlanningContext

Class Documentation

template<typename GeneratorT>
class PlanningContextBase : public planning_interface::PlanningContext

PlanningContext for obtaining trajectories.

Public Functions

inline PlanningContextBase(const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const pilz_industrial_motion_planner::LimitsContainer &limits)
inline ~PlanningContextBase() override
void solve(planning_interface::MotionPlanResponse &res) override

Calculates a trajectory for the request this context is currently set for.

Parameters:

res – The result containing the respective trajectory, or error_code on failure

Returns:

true on success, false otherwise

void solve(planning_interface::MotionPlanDetailedResponse &res) override

Will return the same trajectory as solve(planning_interface::MotionPlanResponse& res) This function just delegates to the common response however here the same trajectory is stored with the descriptions “plan”, “simplify”, “interpolate”.

Parameters:

res – The detailed response

Returns:

true on success, false otherwise

bool terminate() override

Will terminate solve()

Note

Currently will not stop a running solve but not start future solves.

Returns:

void clear() override

Public Members

std::atomic_bool terminated_

Flag if terminated.

moveit::core::RobotModelConstPtr model_

The robot model.

pilz_industrial_motion_planner::LimitsContainer limits_

Joint limits to be used during planning.

Protected Attributes

GeneratorT generator_