37 #ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_ 38 #define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_ 43 #include <boost/function.hpp> 53 typedef boost::function<bool(
const planning_scene::PlanningSceneConstPtr&
planning_scene,
72 bool adaptAndPlan(
const planning_interface::PlannerManagerPtr& planner,
73 const planning_scene::PlanningSceneConstPtr& planning_scene,
77 bool adaptAndPlan(
const planning_interface::PlannerManagerPtr& planner,
78 const planning_scene::PlanningSceneConstPtr& planning_scene,
80 std::vector<std::size_t>& added_path_index)
const;
87 virtual bool adaptAndPlan(
const PlannerFn& planner,
const planning_scene::PlanningSceneConstPtr& planning_scene,
90 std::vector<std::size_t>& added_path_index)
const = 0;
101 void addAdapter(
const PlanningRequestAdapterConstPtr& adapter)
103 adapters_.push_back(adapter);
106 bool adaptAndPlan(
const planning_interface::PlannerManagerPtr& planner,
111 bool adaptAndPlan(
const planning_interface::PlannerManagerPtr& planner,
112 const planning_scene::PlanningSceneConstPtr& planning_scene,
114 std::vector<std::size_t>& added_path_index)
const;
MOVEIT_CLASS_FORWARD(PlanningRequestAdapter)
virtual std::string getDescription() const
Get a short string that identifies the planning request adapter.
std::vector< PlanningRequestAdapterConstPtr > adapters_
PlanningRequestAdapterChain()
Apply a sequence of adapters to a motion plan.
virtual ~PlanningRequestAdapter()
void addAdapter(const PlanningRequestAdapterConstPtr &adapter)
This namespace includes the central class for representing planning contexts.
moveit_msgs::MotionPlanRequest MotionPlanRequest
boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn
Generic interface to adapting motion planning requests.
bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const