add_iterative_spline_parameterization.cpp
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35 
36 /* Author: Ken Anderson, based off add_time_parameterization.cpp by Ioan Sucan */
37 
41 #include <ros/console.h>
42 
44 {
46 {
47 public:
49  {
50  }
51 
52  virtual std::string getDescription() const
53  {
54  return "Add Time Parameterization";
55  }
56 
57  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
60  std::vector<std::size_t>& added_path_index) const
61  {
62  bool result = planner(planning_scene, req, res);
63  if (result && res.trajectory_)
64  {
65  ROS_DEBUG("Running '%s'", getDescription().c_str());
66  if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
67  req.max_acceleration_scaling_factor))
68  ROS_WARN("Time parametrization for the solution path failed.");
69  }
70 
71  return result;
72  }
73 
74 private:
76 };
77 }
78 
robot_trajectory::RobotTrajectoryPtr trajectory_
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddIterativeSplineParameterization, planning_request_adapter::PlanningRequestAdapter)
#define ROS_WARN(...)
virtual bool adaptAndPlan(const PlannerFn &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const
moveit_msgs::MotionPlanRequest MotionPlanRequest
boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn
#define ROS_DEBUG(...)


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sat Feb 9 2019 04:09:58