add_spline_parameterization.cpp
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00034 
00035 /* Author: Ruben Burger (r.b.burger@tudelft.nl)
00036  *
00037  * Based on add_time_parameterization.h, by Ioan Sucan
00038  */
00039 
00040 #include <moveit/planning_request_adapter/planning_request_adapter.h>
00041 #include <moveit/trajectory_processing/spline_parameterization.h>
00042 #include <class_loader/class_loader.h>
00043 #include <ros/console.h>
00044 
00045 namespace default_planner_request_adapters
00046 {
00047 class AddSplineParameterization : public planning_request_adapter::PlanningRequestAdapter
00048 {
00049 public:
00050   AddSplineParameterization() : planning_request_adapter::PlanningRequestAdapter()
00051   {
00052   }
00053 
00054   virtual std::string getDescription() const
00055   {
00056     return "Add Spline Time Parameterization";
00057   }
00058 
00059   virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
00060                             const planning_interface::MotionPlanRequest& req,
00061                             planning_interface::MotionPlanResponse& res,
00062                             std::vector<std::size_t>& added_path_index) const
00063   {
00064     bool result = planner(planning_scene, req, res);
00065     if (result && res.trajectory_)
00066     {
00067       ROS_DEBUG("Running '%s'", getDescription().c_str());
00068       if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
00069                                          req.max_acceleration_scaling_factor))
00070         ROS_WARN("Spline time parametrization for the solution path failed.");
00071     }
00072 
00073     return result;
00074   }
00075 
00076 private:
00077   trajectory_processing::SplineParameterization time_param_;
00078 };
00079 }
00080 
00081 CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddSplineParameterization,
00082                             planning_request_adapter::PlanningRequestAdapter);


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jan 17 2018 03:32:07