This class represents the CLIK planner plugin for moveit. More...

#include <constrained_ik_planner_plugin.h>

Inheritance diagram for constrained_ik::CLIKPlannerManager:

Public Member Functions
bool	canServiceRequest (const moveit_msgs::MotionPlanRequest &req) const override
	See base clase for documentation.
virtual void	cartesianDynamicReconfigureCallback (CLIKDynamicConfig &config, uint32_t level, std::string group_name)
	A callback function for the cartesian planners solver dynamic reconfigure server.
std::string	getDescription () const override
	See base clase for documentation.
void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
	See base clase for documentation.
planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const override
	See base clase for documentation.
bool	initialize (const robot_model::RobotModelConstPtr &model, const std::string &ns) override
	See base clase for documentation.
virtual void	managerDynamicReconfigureCallback (CLIKPlannerDynamicConfig &config, uint32_t level)
	See base clase for documentation.
void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pcs) override
	See base clase for documentation.
Protected Types
typedef dynamic_reconfigure::Server < CLIKDynamicConfig >	CartesianDynReconfigServer
typedef boost::shared_ptr < CartesianDynReconfigServer >	CartesianDynReconfigServerPtr
typedef dynamic_reconfigure::Server < CLIKPlannerDynamicConfig >	ManagerDynReconfigServer
typedef boost::shared_ptr < ManagerDynReconfigServer >	ManagerDynReconfigServerPtr
Protected Attributes
std::map< std::string, CartesianDynReconfigServerPtr >	cartesian_dynamic_reconfigure_server_
CLIKPlannerDynamicConfig	config_
ManagerDynReconfigServerPtr	dynamic_reconfigure_server_
boost::recursive_mutex	mutex_
ros::NodeHandle	nh_
std::map< std::pair < std::string, std::string > , constrained_ik::CLIKPlanningContextPtr >	planners_

Detailed Description

This class represents the CLIK planner plugin for moveit.

It manages all of the CLIK planners.

Definition at line 46 of file constrained_ik_planner_plugin.h.

Member Typedef Documentation

typedef dynamic_reconfigure::Server<CLIKDynamicConfig> constrained_ik::CLIKPlannerManager::CartesianDynReconfigServer [protected]

Type definition for the cartesian planner dynamic reconfigure server

Definition at line 87 of file constrained_ik_planner_plugin.h.

typedef boost::shared_ptr<CartesianDynReconfigServer> constrained_ik::CLIKPlannerManager::CartesianDynReconfigServerPtr [protected]

Type definition for the cartesian planner dynamic reconfigure server shared pointer

Definition at line 89 of file constrained_ik_planner_plugin.h.

typedef dynamic_reconfigure::Server<CLIKPlannerDynamicConfig> constrained_ik::CLIKPlannerManager::ManagerDynReconfigServer [protected]

Type definition for the planning manager dynamic reconfigure server

Definition at line 86 of file constrained_ik_planner_plugin.h.

typedef boost::shared_ptr<ManagerDynReconfigServer> constrained_ik::CLIKPlannerManager::ManagerDynReconfigServerPtr [protected]

Type definition for the planning manager dynamic reconfigure server shared pointer

Definition at line 88 of file constrained_ik_planner_plugin.h.

Member Function Documentation

void constrained_ik::CLIKPlannerManager::cartesianDynamicReconfigureCallback	(	CLIKDynamicConfig &	config,
		uint32_t	level,
		std::string	group_name
	)		`[virtual]`