planning_response.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 
40 void planning_interface::MotionPlanResponse::getMessage(moveit_msgs::MotionPlanResponse& msg) const
41 {
42  msg.error_code = error_code_;
43  msg.planning_time = planning_time_;
44  if (trajectory_ && !trajectory_->empty())
45  {
46  robot_state::robotStateToRobotStateMsg(trajectory_->getFirstWayPoint(), msg.trajectory_start);
47  trajectory_->getRobotTrajectoryMsg(msg.trajectory);
48  msg.group_name = trajectory_->getGroupName();
49  }
50 }
51 
52 void planning_interface::MotionPlanDetailedResponse::getMessage(moveit_msgs::MotionPlanDetailedResponse& msg) const
53 {
54  msg.error_code = error_code_;
55 
56  msg.trajectory.clear();
57  msg.description.clear();
58  msg.processing_time.clear();
59 
60  bool first = true;
61 
62  for (std::size_t i = 0; i < trajectory_.size(); ++i)
63  {
64  if (trajectory_[i]->empty())
65  continue;
66  if (first)
67  {
68  first = false;
69  robot_state::robotStateToRobotStateMsg(trajectory_[i]->getFirstWayPoint(), msg.trajectory_start);
70  msg.group_name = trajectory_[i]->getGroupName();
71  }
72  msg.trajectory.resize(msg.trajectory.size() + 1);
73  trajectory_[i]->getRobotTrajectoryMsg(msg.trajectory.back());
74  if (description_.size() > i)
75  msg.description.push_back(description_[i]);
76  if (processing_time_.size() > i)
77  msg.processing_time.push_back(processing_time_[i]);
78  }
79 }
robot_trajectory::RobotTrajectoryPtr trajectory_
void getMessage(moveit_msgs::MotionPlanDetailedResponse &msg) const
moveit_msgs::MoveItErrorCodes error_code_
void getMessage(moveit_msgs::MotionPlanResponse &msg) const
void robotStateToRobotStateMsg(const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
Convert a MoveIt! robot state to a robot state message.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Sep 15 2018 02:51:06