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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Feb 20 2018 03:45:29