Public Member Functions
const PlanningStatistics &	getLastPlanningStatistics () const
	SBPLMetaInterface (const planning_models::RobotModelConstPtr &kmodel)
bool	solve (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::GetMotionPlan::Request &req, moveit_msgs::GetMotionPlan::Response &res)
virtual	~SBPLMetaInterface ()
Protected Member Functions
void	runSolver (bool use_first, const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::GetMotionPlan::Request &req, moveit_msgs::GetMotionPlan::Response &res, const PlanningParameters &params)
Protected Attributes
bool	first_done_
bool	first_ok_
PlanningStatistics	last_planning_statistics_
boost::condition_variable	planner_done_condition_
boost::mutex	planner_done_mutex_
boost::shared_ptr < sbpl_interface::SBPLInterface >	sbpl_interface_first_
boost::shared_ptr < sbpl_interface::SBPLInterface >	sbpl_interface_second_
bool	second_done_
bool	second_ok_

Detailed Description

Definition at line 47 of file sbpl_meta_interface.h.

Constructor & Destructor Documentation

sbpl_interface::SBPLMetaInterface::SBPLMetaInterface ( const planning_models::RobotModelConstPtr & kmodel )

Definition at line 42 of file sbpl_meta_interface.cpp.

virtual sbpl_interface::SBPLMetaInterface::~SBPLMetaInterface ( ) [inline, virtual]

Definition at line 52 of file sbpl_meta_interface.h.

const PlanningStatistics& sbpl_interface::SBPLMetaInterface::getLastPlanningStatistics ( ) const [inline]

Definition at line 58 of file sbpl_meta_interface.h.

void sbpl_interface::SBPLMetaInterface::runSolver	(	bool	use_first,
		const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::GetMotionPlan::Request &	req,
		moveit_msgs::GetMotionPlan::Response &	res,
		const PlanningParameters &	params
	)		`[protected]`

Definition at line 127 of file sbpl_meta_interface.cpp.

bool sbpl_interface::SBPLMetaInterface::solve	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::GetMotionPlan::Request &	req,
		moveit_msgs::GetMotionPlan::Response &	res
	)