Inheritance diagram for PlannerManagerStub:

Public Member Functions
bool	canServiceRequest (planning_interface::MotionPlanRequest const &) const override
	Determine whether this plugin instance is able to represent this planning request. More...

planning_interface::PlanningContextPtr	getPlanningContext (planning_scene::PlanningSceneConstPtr const &, planning_interface::MotionPlanRequest const &, moveit_msgs::MoveItErrorCodes &) const override
	Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed. More...

	PlannerManagerStub (planning_interface::PlanningContextPtr planningContext)

Public Member Functions inherited from planning_interface::PlannerManager
virtual std::string	getDescription () const
	Get. More...

const PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the settings for a specific algorithm. More...

virtual void	getPlanningAlgorithms (std::vector< std::string > &algs) const
	Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request) More...

PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const
	Calls the function above but ignores the error_code. More...

virtual bool	initialize (const moveit::core::RobotModelConstPtr &model, const std::string &ns)

	PlannerManager ()

virtual void	setPlannerConfigurations (const PlannerConfigurationMap &pcs)
	Specify the settings to be used for specific algorithms. More...

void	terminate () const
	Request termination, if a solve() function is currently computing plans. More...

virtual	~PlannerManager ()

Private Attributes
planning_interface::PlanningContextPtr	m_planningContext

Additional Inherited Members
Protected Attributes inherited from planning_interface::PlannerManager
PlannerConfigurationMap	config_settings_
	All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used. More...

Detailed Description

Definition at line 81 of file test_planning_request_adapter_chain.cpp.

Constructor & Destructor Documentation

◆ PlannerManagerStub()

PlannerManagerStub::PlannerManagerStub ( planning_interface::PlanningContextPtr planningContext )

inline

Definition at line 84 of file test_planning_request_adapter_chain.cpp.

Member Function Documentation

◆ canServiceRequest()

bool PlannerManagerStub::canServiceRequest ( planning_interface::MotionPlanRequest const & req ) const

inlineoverridevirtual

Determine whether this plugin instance is able to represent this planning request.

Implements planning_interface::PlannerManager.

Definition at line 96 of file test_planning_request_adapter_chain.cpp.

◆ getPlanningContext()

planning_interface::PlanningContextPtr PlannerManagerStub::getPlanningContext	(	planning_scene::PlanningSceneConstPtr const &	planning_scene,
		planning_interface::MotionPlanRequest const &	req,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const

inlineoverridevirtual

Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed.

Parameters

planning_scene	A const planning scene to use for planning
req	The representation of the planning request
error_code	This is where the error is set if constructing the planning context fails

Implements planning_interface::PlannerManager.

Definition at line 89 of file test_planning_request_adapter_chain.cpp.