The PlannerManager implementation that loads STOMP into moveit. More...

#include <stomp_planner_manager.h>

Inheritance diagram for stomp_moveit::StompPlannerManager:

Public Member Functions
bool	canServiceRequest (const moveit_msgs::MotionPlanRequest &req) const override
	Checks if the request can be planned for.
std::string	getDescription () const override
	Description string getter.
void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
	Getter for a list of the available planners, usually one STOMP planner per planning group.
planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const override
	Provides a planning context that matches the desired plan requests specifications.
bool	initialize (const robot_model::RobotModelConstPtr &model, const std::string &ns) override
	Loads the ros parameters for each planning group and initializes the all the planners.
void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pcs) override
	Not applicable.
	StompPlannerManager ()
	Constructor.
virtual	~StompPlannerManager ()
Protected Attributes
ros::NodeHandle	nh_
std::map< std::string, planning_interface::PlanningContextPtr >	planners_
moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

The PlannerManager implementation that loads STOMP into moveit.

Examples:: All examples are located here stomp_core examples

Definition at line 42 of file stomp_planner_manager.h.

Constructor & Destructor Documentation

stomp_moveit::StompPlannerManager::StompPlannerManager ( )

Constructor.

Definition at line 33 of file stomp_planner_manager.cpp.

stomp_moveit::StompPlannerManager::~StompPlannerManager ( ) [virtual]

Definition at line 40 of file stomp_planner_manager.cpp.

Member Function Documentation

bool stomp_moveit::StompPlannerManager::canServiceRequest ( const moveit_msgs::MotionPlanRequest & req ) const [override, virtual]

Checks if the request can be planned for.

Parameters:

req

Returns:: True if succeeded, False otherwise

Implements planning_interface::PlannerManager.

Definition at line 84 of file stomp_planner_manager.cpp.

std::string stomp_moveit::StompPlannerManager::getDescription ( ) const [inline, override, virtual]

Description string getter.

Returns:: Description string

Reimplemented from planning_interface::PlannerManager.

Definition at line 71 of file stomp_planner_manager.h.

void stomp_moveit::StompPlannerManager::getPlanningAlgorithms ( std::vector< std::string > & algs ) const [override, virtual]

Getter for a list of the available planners, usually one STOMP planner per planning group.

Parameters:

algs	List of available planners.

Reimplemented from planning_interface::PlannerManager.

Definition at line 96 of file stomp_planner_manager.cpp.

planning_interface::PlanningContextPtr stomp_moveit::StompPlannerManager::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const `[override, virtual]`

Provides a planning context that matches the desired plan requests specifications.

Parameters:

planning_scene	A pointer to the planning scene
req	The motion plan request
error_code	Error code, will be set to moveit_msgs::MoveItErrorCodes::SUCCESS if it succeeded

Returns:: A pointer to the planning context

Implements planning_interface::PlannerManager.

Definition at line 110 of file stomp_planner_manager.cpp.

bool stomp_moveit::StompPlannerManager::initialize	(	const robot_model::RobotModelConstPtr &	model,
		const std::string &	ns
	)		`[override, virtual]`

Loads the ros parameters for each planning group and initializes the all the planners.

Parameters:

model	The robot model
ns	The parameter namespace

Returns:: True if succeeded, False otherwise

Reimplemented from planning_interface::PlannerManager.

Definition at line 45 of file stomp_planner_manager.cpp.

void stomp_moveit::StompPlannerManager::setPlannerConfigurations ( const planning_interface::PlannerConfigurationMap & pcs ) [override, virtual]

Not applicable.

Parameters:

pcs	this argument is ignored.

Reimplemented from planning_interface::PlannerManager.

Definition at line 105 of file stomp_planner_manager.cpp.

Member Data Documentation

ros::NodeHandle stomp_moveit::StompPlannerManager::nh_ [protected]

Definition at line 102 of file stomp_planner_manager.h.

std::map< std::string, planning_interface::PlanningContextPtr> stomp_moveit::StompPlannerManager::planners_ [protected]

The planners for each planning group

Definition at line 105 of file stomp_planner_manager.h.

moveit::core::RobotModelConstPtr stomp_moveit::StompPlannerManager::robot_model_ [protected]

Definition at line 108 of file stomp_planner_manager.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation