OMPLPlannerService Class Reference

Public Member Functions
bool	computePlan (moveit_msgs::GetMotionPlan::Request &req, moveit_msgs::GetMotionPlan::Response &res)
void	displaySolution (const moveit_msgs::MotionPlanResponse &mplan_res)
	OMPLPlannerService (planning_scene_monitor::PlanningSceneMonitor &psm, bool debug=false)
void	status ()

Private Attributes
bool	debug_
ros::ServiceServer	display_states_service_
ros::NodeHandle	nh_
ompl_interface::OMPLInterface	ompl_interface_
ros::ServiceServer	plan_service_
planning_scene_monitor::PlanningSceneMonitor &	psm_
ros::Publisher	pub_plan_
ros::Publisher	pub_request_

Detailed Description

Definition at line 51 of file ompl_planner.cpp.

Constructor & Destructor Documentation

OMPLPlannerService::OMPLPlannerService ( planning_scene_monitor::PlanningSceneMonitor &  psm, bool  debug = false  )

inline

Definition at line 54 of file ompl_planner.cpp.

Member Function Documentation

bool OMPLPlannerService::computePlan ( moveit_msgs::GetMotionPlan::Request &  req, moveit_msgs::GetMotionPlan::Response &  res  )

inline

Definition at line 65 of file ompl_planner.cpp.

void OMPLPlannerService::displaySolution ( const moveit_msgs::MotionPlanResponse &  mplan_res )

inline

Definition at line 93 of file ompl_planner.cpp.

void OMPLPlannerService::status ( )

inline

Definition at line 102 of file ompl_planner.cpp.

Member Data Documentation

bool OMPLPlannerService::debug_

private

Definition at line 118 of file ompl_planner.cpp.

ros::ServiceServer OMPLPlannerService::display_states_service_

private

Definition at line 115 of file ompl_planner.cpp.

ros::NodeHandle OMPLPlannerService::nh_

private

Definition at line 111 of file ompl_planner.cpp.

ompl_interface::OMPLInterface OMPLPlannerService::ompl_interface_

private

Definition at line 113 of file ompl_planner.cpp.

ros::ServiceServer OMPLPlannerService::plan_service_

private

Definition at line 114 of file ompl_planner.cpp.

planning_scene_monitor::PlanningSceneMonitor& OMPLPlannerService::psm_

private

Definition at line 112 of file ompl_planner.cpp.

ros::Publisher OMPLPlannerService::pub_plan_

private

Definition at line 116 of file ompl_planner.cpp.

ros::Publisher OMPLPlannerService::pub_request_

private

Definition at line 117 of file ompl_planner.cpp.

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

• ompl_planner.cpp