Program Listing for File pilz_industrial_motion_planner.h
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <pilz_industrial_motion_planner/planning_context_loader.h>
#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_interface.h>
#include <pluginlib/class_loader.hpp>
#include <memory>
#include <cartesian_limits_parameters.hpp>
namespace pilz_industrial_motion_planner
{
class CommandPlanner : public planning_interface::PlannerManager
{
public:
~CommandPlanner() override
{
}
bool initialize(const moveit::core::RobotModelConstPtr& model, const rclcpp::Node::SharedPtr& node,
const std::string& ns) override;
std::string getDescription() const override;
void getPlanningAlgorithms(std::vector<std::string>& algs) const override;
planning_interface::PlanningContextPtr
getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
const planning_interface::MotionPlanRequest& req,
moveit_msgs::msg::MoveItErrorCodes& error_code) const override;
bool canServiceRequest(const planning_interface::MotionPlanRequest& req) const override;
void registerContextLoader(const pilz_industrial_motion_planner::PlanningContextLoaderPtr& planning_context_loader);
private:
std::unique_ptr<pluginlib::ClassLoader<PlanningContextLoader>> planner_context_loader_;
std::map<std::string, pilz_industrial_motion_planner::PlanningContextLoaderPtr> context_loader_map_;
moveit::core::RobotModelConstPtr model_;
std::string namespace_;
pilz_industrial_motion_planner::JointLimitsContainer aggregated_limit_active_joints_;
std::shared_ptr<cartesian_limits::ParamListener> param_listener_;
cartesian_limits::Params params_;
};
MOVEIT_CLASS_FORWARD(CommandPlanner);
} // namespace pilz_industrial_motion_planner