query_planners_service_capability.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "query_planners_service_capability.h"
00038 #include <moveit/planning_pipeline/planning_pipeline.h>
00039 #include <moveit/move_group/capability_names.h>
00040 
00041 move_group::MoveGroupQueryPlannersService::MoveGroupQueryPlannersService() : MoveGroupCapability("QueryPlannersService")
00042 {
00043 }
00044 
00045 void move_group::MoveGroupQueryPlannersService::initialize()
00046 {
00047   query_service_ = root_node_handle_.advertiseService(QUERY_PLANNERS_SERVICE_NAME,
00048                                                       &MoveGroupQueryPlannersService::queryInterface, this);
00049 }
00050 
00051 bool move_group::MoveGroupQueryPlannersService::queryInterface(moveit_msgs::QueryPlannerInterfaces::Request& req,
00052                                                                moveit_msgs::QueryPlannerInterfaces::Response& res)
00053 {
00054   const planning_interface::PlannerManagerPtr& planner_interface = context_->planning_pipeline_->getPlannerManager();
00055   if (planner_interface)
00056   {
00057     std::vector<std::string> algs;
00058     planner_interface->getPlanningAlgorithms(algs);
00059     moveit_msgs::PlannerInterfaceDescription pi_desc;
00060     pi_desc.name = planner_interface->getDescription();
00061     planner_interface->getPlanningAlgorithms(pi_desc.planner_ids);
00062     res.planner_interfaces.push_back(pi_desc);
00063   }
00064   return true;
00065 }
00066 
00067 #include <class_loader/class_loader.h>
00068 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupQueryPlannersService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Dec 26 2017 03:34:23