Template Class QueryOnlyGTEFeature

Inheritance Relationships

Base Type

Class Documentation

template<typename AppendT, typename FeatureSourceT>
class QueryOnlyGTEFeature : public moveit_ros::trajectory_cache::FeaturesInterface<FeatureSourceT>

Public Functions

inline QueryOnlyGTEFeature(std::string name, AppendT value)
inline virtual std::string getName() const override

Gets the name of the features implementation.

inline virtual moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query &query, const FeatureSourceT &source, const moveit::planning_interface::MoveGroupInterface &move_group, double exact_match_precision) const override

Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with fuzzy matching.

These parameters will be used key the cache element in a fuzzy manner.

Parameters:

  • query. – [inout] The query to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

  • exact_match_precision. – [in] Tolerance for float precision comparison for what counts as an exact match.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

inline virtual moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(warehouse_ros::Query &query, const FeatureSourceT&, const moveit::planning_interface::MoveGroupInterface&, double) const override

Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with exact matching.

These parameters will be used key the cache element in an exact manner.

Parameters:

  • query. – [inout] The query to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

  • exact_match_precision. – [in] Tolerance for float precision comparison for what counts as an exact match.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

inline virtual moveit::core::MoveItErrorCode appendFeaturesAsInsertMetadata(warehouse_ros::Metadata&, const FeatureSourceT&, const moveit::planning_interface::MoveGroupInterface&) const override

Extracts relevant features from FeatureSourceT, to be appended to a cache entry’s metadata.

These parameters will be used key the cache element.

Parameters:

  • metadata. – [inout] The metadata to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused.