move_group_context.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
42 
44  const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, bool allow_trajectory_execution,
45  bool debug)
46  : planning_scene_monitor_(planning_scene_monitor)
47  , allow_trajectory_execution_(allow_trajectory_execution)
48  , debug_(debug)
49 {
51 
53  {
55  planning_scene_monitor_->getRobotModel(), planning_scene_monitor_->getStateMonitor()));
58  if (debug)
59  plan_with_sensing_->displayCostSources(true);
60  }
61 
62  // configure the planning pipeline
63  planning_pipeline_->displayComputedMotionPlans(true);
64  planning_pipeline_->checkSolutionPaths(true);
65 
66  if (debug_)
67  planning_pipeline_->publishReceivedRequests(true);
68 }
69 
71 {
72  plan_with_sensing_.reset();
73  plan_execution_.reset();
75  planning_pipeline_.reset();
77 }
78 
80 {
81  const planning_interface::PlannerManagerPtr& planner_interface = planning_pipeline_->getPlannerManager();
82  if (planner_interface)
83  {
84  ROS_INFO_STREAM("MoveGroup context using planning plugin " << planning_pipeline_->getPlannerPluginName());
85  ROS_INFO_STREAM("MoveGroup context initialization complete");
86  return true;
87  }
88  else
89  {
90  ROS_WARN_STREAM("MoveGroup running was unable to load " << planning_pipeline_->getPlannerPluginName());
91  return false;
92  }
93 }
trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_
plan_execution::PlanExecutionPtr plan_execution_
planning_pipeline::PlanningPipelinePtr planning_pipeline_
MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, bool allow_trajectory_execution=false, bool debug=false)
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_
#define ROS_WARN_STREAM(args)
#define ROS_INFO_STREAM(args)
plan_execution::PlanWithSensingPtr plan_with_sensing_


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Thu Oct 18 2018 02:48:05