Class PlanningContextLoader

Defined in File planning_context_loader.hpp

Inheritance Relationships

Derived Types

public pilz_industrial_motion_planner::PlanningContextLoaderCIRC (Class PlanningContextLoaderCIRC)
public pilz_industrial_motion_planner::PlanningContextLoaderLIN (Class PlanningContextLoaderLIN)
public pilz_industrial_motion_planner::PlanningContextLoaderPTP (Class PlanningContextLoaderPTP)

Class Documentation

class PlanningContextLoader

Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ctor, classes derived from it can not be plugins. This class serves as base class for wrappers.

Subclassed by pilz_industrial_motion_planner::PlanningContextLoaderCIRC, pilz_industrial_motion_planner::PlanningContextLoaderLIN, pilz_industrial_motion_planner::PlanningContextLoaderPTP

Public Functions

PlanningContextLoader()

virtual ~PlanningContextLoader()

virtual std::string getAlgorithm() const: Return the algorithm the loader uses.

virtual bool setModel(const moveit::core::RobotModelConstPtr &model)

Sets the robot model that can be passed to the planning context.

Parameters:: model – The robot model
Returns:: false if could not be set

virtual bool setLimits(const pilz_industrial_motion_planner::LimitsContainer &limits)

Sets limits the planner can pass to the contexts.

Parameters:: limits – container of limits, no guarantee to contain the limits for all joints of the model
Returns:: true if limits could be set

virtual bool loadContext(planning_interface::PlanningContextPtr &planning_context, const std::string &name, const std::string &group) const = 0

Return the planning context.

Parameters:

planning_context –
name – context name
group – name of the planning group

Returns:

true on success, false otherwise

Protected Functions

template<typename T> bool loadContext(planning_interface::PlanningContextPtr &planning_context, const std::string &name, const std::string &group) const

Return the planning context of type T.

Parameters:

planning_context –
name – context name
group – name of the planning group

Returns:

true on success, false otherwise

Protected Attributes

std::string alg_: Name of the algorithm.

bool limits_set_: True if limits are set.

pilz_industrial_motion_planner::LimitsContainer limits_: Limits to be used during planning.

bool model_set_: True if model is set.

moveit::core::RobotModelConstPtr model_: The robot model.