Public Member Functions | Protected Attributes | List of all members
planning_interface::PlanningContext Class Referenceabstract

Representation of a particular planning context – the planning scene and the request are known, solution is not yet computed. More...

#include <planning_interface.h>

Public Member Functions

virtual void clear ()=0
 Clear the data structures used by the planner. More...
 
const std::string & getGroupName () const
 Get the name of the group this planning context is for. More...
 
const MotionPlanRequestgetMotionPlanRequest () const
 Get the motion plan request associated to this planning context. More...
 
const std::string & getName () const
 Get the name of this planning context. More...
 
const planning_scene::PlanningSceneConstPtr & getPlanningScene () const
 Get the planning scene associated to this planning context. More...
 
 PlanningContext (const std::string &name, const std::string &group)
 Construct a planning context named name for the group group. More...
 
void setMotionPlanRequest (const MotionPlanRequest &request)
 Set the planning request for this context. More...
 
void setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
 Set the planning scene for this context. More...
 
virtual bool solve (MotionPlanResponse &res)=0
 Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that. More...
 
virtual bool solve (MotionPlanDetailedResponse &res)=0
 Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that. More...
 
virtual bool terminate ()=0
 If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true). More...
 
virtual ~PlanningContext ()
 

Protected Attributes

std::string group_
 The group (as in the SRDF) this planning context is for. More...
 
std::string name_
 The name of this planning context. More...
 
planning_scene::PlanningSceneConstPtr planning_scene_
 The planning scene for this context. More...
 
MotionPlanRequest request_
 The planning request for this context. More...
 

Detailed Description

Representation of a particular planning context – the planning scene and the request are known, solution is not yet computed.

Definition at line 81 of file planning_interface.h.

Constructor & Destructor Documentation

planning_interface::PlanningContext::PlanningContext ( const std::string &  name,
const std::string &  group 
)

Construct a planning context named name for the group group.

Definition at line 57 of file planning_interface.cpp.

planning_interface::PlanningContext::~PlanningContext ( )
virtual

Definition at line 65 of file planning_interface.cpp.

Member Function Documentation

virtual void planning_interface::PlanningContext::clear ( )
pure virtual

Clear the data structures used by the planner.

const std::string& planning_interface::PlanningContext::getGroupName ( ) const
inline

Get the name of the group this planning context is for.

Definition at line 90 of file planning_interface.h.

const MotionPlanRequest& planning_interface::PlanningContext::getMotionPlanRequest ( ) const
inline

Get the motion plan request associated to this planning context.

Definition at line 108 of file planning_interface.h.

const std::string& planning_interface::PlanningContext::getName ( ) const
inline

Get the name of this planning context.

Definition at line 96 of file planning_interface.h.

const planning_scene::PlanningSceneConstPtr& planning_interface::PlanningContext::getPlanningScene ( ) const
inline

Get the planning scene associated to this planning context.

Definition at line 102 of file planning_interface.h.

void planning_interface::PlanningContext::setMotionPlanRequest ( const MotionPlanRequest request)

Set the planning request for this context.

Definition at line 77 of file planning_interface.cpp.

void planning_interface::PlanningContext::setPlanningScene ( const planning_scene::PlanningSceneConstPtr &  planning_scene)

Set the planning scene for this context.

Definition at line 72 of file planning_interface.cpp.

virtual bool planning_interface::PlanningContext::solve ( MotionPlanResponse res)
pure virtual

Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

virtual bool planning_interface::PlanningContext::solve ( MotionPlanDetailedResponse res)
pure virtual

Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

virtual bool planning_interface::PlanningContext::terminate ( )
pure virtual

If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).

Member Data Documentation

std::string planning_interface::PlanningContext::group_
protected

The group (as in the SRDF) this planning context is for.

Definition at line 139 of file planning_interface.h.

std::string planning_interface::PlanningContext::name_
protected

The name of this planning context.

Definition at line 136 of file planning_interface.h.

planning_scene::PlanningSceneConstPtr planning_interface::PlanningContext::planning_scene_
protected

The planning scene for this context.

Definition at line 142 of file planning_interface.h.

MotionPlanRequest planning_interface::PlanningContext::request_
protected

The planning request for this context.

Definition at line 145 of file planning_interface.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Jan 21 2018 03:54:30