add_time_parameterization.cpp
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34 
35 /* Author: Ioan Sucan */
36 
40 #include <ros/console.h>
41 
43 {
45 {
46 public:
48  {
49  }
50 
51  virtual std::string getDescription() const
52  {
53  return "Add Time Parameterization";
54  }
55 
56  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
59  std::vector<std::size_t>& added_path_index) const
60  {
61  bool result = planner(planning_scene, req, res);
62  if (result && res.trajectory_)
63  {
64  ROS_DEBUG("Running '%s'", getDescription().c_str());
65  if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
66  req.max_acceleration_scaling_factor))
67  ROS_WARN("Time parametrization for the solution path failed.");
68  }
69 
70  return result;
71  }
72 
73 private:
75 };
76 }
77 
robot_trajectory::RobotTrajectoryPtr trajectory_
trajectory_processing::IterativeParabolicTimeParameterization time_param_
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
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeParameterization, planning_request_adapter::PlanningRequestAdapter)
#define ROS_WARN(...)
moveit_msgs::MotionPlanRequest MotionPlanRequest
boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const
#define ROS_DEBUG(...)


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Apr 18 2018 02:49:32