plan_representation.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
38 #define MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
39 
42 #include <moveit_msgs/MoveItErrorCodes.h>
43 #include <boost/function.hpp>
44 
45 namespace plan_execution
46 {
47 struct ExecutableMotionPlan;
48 
51 {
53  {
54  }
55 
56  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description)
57  : trajectory_(trajectory), description_(description), trajectory_monitoring_(true)
58  {
59  }
60 
61  robot_trajectory::RobotTrajectoryPtr trajectory_;
62  std::string description_;
64  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
65  boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
66 };
67 
70 {
71  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
72  planning_scene::PlanningSceneConstPtr planning_scene_;
73 
74  std::vector<ExecutableTrajectory> plan_components_;
75 
76  // The trace of the trajectory recorded during execution
77  robot_trajectory::RobotTrajectoryPtr executed_trajectory_;
78 
80  moveit_msgs::MoveItErrorCodes error_code_;
81 };
82 
84 typedef boost::function<bool(ExecutableMotionPlan& plan)> ExecutableMotionPlanComputationFn;
85 }
86 #endif
collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_
ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr &trajectory, const std::string &description)
moveit_msgs::MoveItErrorCodes error_code_
An error code reflecting what went wrong (if anything)
Representation of a trajectory that can be executed.
boost::function< bool(ExecutableMotionPlan &plan)> ExecutableMotionPlanComputationFn
The signature of a function that can compute a motion plan.
robot_trajectory::RobotTrajectoryPtr trajectory_
planning_scene::PlanningSceneConstPtr planning_scene_
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_
robot_trajectory::RobotTrajectoryPtr executed_trajectory_
This namespace includes functionality specific to the execution and monitoring of motion plans...
A generic representation on what a computed motion plan looks like.
boost::function< bool(const ExecutableMotionPlan *)> effect_on_success_
std::vector< ExecutableTrajectory > plan_components_


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sun Jan 21 2018 03:55:10