planning_response.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/planning_interface/planning_response.h>
00038 #include <moveit/robot_state/conversions.h>
00039 
00040 void planning_interface::MotionPlanResponse::getMessage(moveit_msgs::MotionPlanResponse& msg) const
00041 {
00042   msg.error_code = error_code_;
00043   msg.planning_time = planning_time_;
00044   if (trajectory_ && !trajectory_->empty())
00045   {
00046     robot_state::robotStateToRobotStateMsg(trajectory_->getFirstWayPoint(), msg.trajectory_start);
00047     trajectory_->getRobotTrajectoryMsg(msg.trajectory);
00048     msg.group_name = trajectory_->getGroupName();
00049   }
00050 }
00051 
00052 void planning_interface::MotionPlanDetailedResponse::getMessage(moveit_msgs::MotionPlanDetailedResponse& msg) const
00053 {
00054   msg.error_code = error_code_;
00055 
00056   msg.trajectory.clear();
00057   msg.description.clear();
00058   msg.processing_time.clear();
00059 
00060   bool first = true;
00061 
00062   for (std::size_t i = 0; i < trajectory_.size(); ++i)
00063   {
00064     if (trajectory_[i]->empty())
00065       continue;
00066     if (first)
00067     {
00068       first = false;
00069       robot_state::robotStateToRobotStateMsg(trajectory_[i]->getFirstWayPoint(), msg.trajectory_start);
00070       msg.group_name = trajectory_[i]->getGroupName();
00071     }
00072     msg.trajectory.resize(msg.trajectory.size() + 1);
00073     trajectory_[i]->getRobotTrajectoryMsg(msg.trajectory.back());
00074     if (description_.size() > i)
00075       msg.description.push_back(description_[i]);
00076     if (processing_time_.size() > i)
00077       msg.processing_time.push_back(processing_time_[i]);
00078   }
00079 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45