planning_request_adapter.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
38 #define MOVEIT_PLANNING_REQUEST_ADAPTER_PLANNING_REQUEST_ADAPTER_
39 
43 #include <boost/function.hpp>
44 
47 {
49 
51 {
52 public:
53  typedef boost::function<bool(const planning_scene::PlanningSceneConstPtr& planning_scene,
57 
59  {
60  }
61 
63  {
64  }
65 
67  virtual std::string getDescription() const
68  {
69  return "";
70  }
71 
72  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
73  const planning_scene::PlanningSceneConstPtr& planning_scene,
76 
77  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
78  const planning_scene::PlanningSceneConstPtr& planning_scene,
80  std::vector<std::size_t>& added_path_index) const;
81 
87  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
90  std::vector<std::size_t>& added_path_index) const = 0;
91 };
92 
95 {
96 public:
98  {
99  }
100 
101  void addAdapter(const PlanningRequestAdapterConstPtr& adapter)
102  {
103  adapters_.push_back(adapter);
104  }
105 
106  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
107  const planning_scene::PlanningSceneConstPtr& planning_scene,
110 
111  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
112  const planning_scene::PlanningSceneConstPtr& planning_scene,
114  std::vector<std::size_t>& added_path_index) const;
115 
116 private:
117  std::vector<PlanningRequestAdapterConstPtr> adapters_;
118 };
119 }
120 
121 #endif
MOVEIT_CLASS_FORWARD(PlanningRequestAdapter)
virtual std::string getDescription() const
Get a short string that identifies the planning request adapter.
std::vector< PlanningRequestAdapterConstPtr > adapters_
Apply a sequence of adapters to a motion plan.
void addAdapter(const PlanningRequestAdapterConstPtr &adapter)
This namespace includes the central class for representing planning contexts.
moveit_msgs::MotionPlanRequest MotionPlanRequest
boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn
Generic interface to adapting motion planning requests.
bool adaptAndPlan(const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Apr 21 2018 02:54:51