Public Member Functions | Protected Attributes
planning_interface::PlanningContext Class Reference

Representation of a particular planning context -- the planning scene and the request are known, solution is not yet computed. More...

#include <planning_interface.h>

List of all members.

Public Member Functions

virtual void clear ()=0
 Clear the data structures used by the planner.
const std::string & getGroupName () const
 Get the name of the group this planning context is for.
const MotionPlanRequestgetMotionPlanRequest () const
 Get the motion plan request associated to this planning context.
const std::string & getName () const
 Get the name of this planning context.
const
planning_scene::PlanningSceneConstPtr & 
getPlanningScene () const
 Get the planning scene associated to this planning context.
 PlanningContext (const std::string &name, const std::string &group)
 Construct a planning context named name for the group group.
void setMotionPlanRequest (const MotionPlanRequest &request)
 Set the planning request for this context.
void setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
 Set the planning scene for this context.
virtual bool solve (MotionPlanResponse &res)=0
 Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.
virtual bool solve (MotionPlanDetailedResponse &res)=0
 Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.
virtual bool terminate ()=0
 If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).
virtual ~PlanningContext ()

Protected Attributes

std::string group_
 The group (as in the SRDF) this planning context is for.
std::string name_
 The name of this planning context.
planning_scene::PlanningSceneConstPtr planning_scene_
 The planning scene for this context.
MotionPlanRequest request_
 The planning request for this context.

Detailed Description

Representation of a particular planning context -- the planning scene and the request are known, solution is not yet computed.

Definition at line 79 of file planning_interface.h.


Constructor & Destructor Documentation

planning_interface::PlanningContext::PlanningContext ( const std::string &  name,
const std::string &  group 
)

Construct a planning context named name for the group group.

Definition at line 57 of file planning_interface.cpp.

Definition at line 65 of file planning_interface.cpp.


Member Function Documentation

virtual void planning_interface::PlanningContext::clear ( ) [pure virtual]

Clear the data structures used by the planner.

const std::string& planning_interface::PlanningContext::getGroupName ( ) const [inline]

Get the name of the group this planning context is for.

Definition at line 88 of file planning_interface.h.

Get the motion plan request associated to this planning context.

Definition at line 106 of file planning_interface.h.

const std::string& planning_interface::PlanningContext::getName ( ) const [inline]

Get the name of this planning context.

Definition at line 94 of file planning_interface.h.

const planning_scene::PlanningSceneConstPtr& planning_interface::PlanningContext::getPlanningScene ( ) const [inline]

Get the planning scene associated to this planning context.

Definition at line 100 of file planning_interface.h.

Set the planning request for this context.

Definition at line 77 of file planning_interface.cpp.

void planning_interface::PlanningContext::setPlanningScene ( const planning_scene::PlanningSceneConstPtr &  planning_scene)

Set the planning scene for this context.

Definition at line 72 of file planning_interface.cpp.

virtual bool planning_interface::PlanningContext::solve ( MotionPlanResponse res) [pure virtual]

Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

virtual bool planning_interface::PlanningContext::terminate ( ) [pure virtual]

If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).


Member Data Documentation

The group (as in the SRDF) this planning context is for.

Definition at line 137 of file planning_interface.h.

The name of this planning context.

Definition at line 134 of file planning_interface.h.

planning_scene::PlanningSceneConstPtr planning_interface::PlanningContext::planning_scene_ [protected]

The planning scene for this context.

Definition at line 140 of file planning_interface.h.

The planning request for this context.

Definition at line 143 of file planning_interface.h.


The documentation for this class was generated from the following files:


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:37