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. |
Representation of a particular planning context -- the planning scene and the request are known, solution is not yet computed.
Definition at line 78 of file planning_interface.h.
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.
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 88 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 106 of file planning_interface.h.
const std::string& planning_interface::PlanningContext::getName | ( | ) | const [inline] |
Get the name of this planning context.
Definition at line 94 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 100 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] |
std::string planning_interface::PlanningContext::group_ [protected] |
The group (as in the SRDF) this planning context is for.
Definition at line 135 of file planning_interface.h.
std::string planning_interface::PlanningContext::name_ [protected] |
The name of this planning context.
Definition at line 132 of file planning_interface.h.
planning_scene::PlanningSceneConstPtr planning_interface::PlanningContext::planning_scene_ [protected] |
The planning scene for this context.
Definition at line 138 of file planning_interface.h.
The planning request for this context.
Definition at line 141 of file planning_interface.h.