53 std::vector<std::size_t>& added_path_index)
const 55 return planner(planning_scene, req, res);
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::Empty, planning_request_adapter::PlanningRequestAdapter)
virtual std::string getDescription() const
virtual bool adaptAndPlan(const PlannerFn &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const
moveit_msgs::MotionPlanRequest MotionPlanRequest
boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn