Public Member Functions | Static Public Attributes | Private Attributes | List of all members
industrial_trajectory_filters::AddSmoothingFilter Class Reference
Inheritance diagram for industrial_trajectory_filters::AddSmoothingFilter:
Inheritance graph
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Public Member Functions

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
 The work hourse of planning request adapters. More...
 
 AddSmoothingFilter ()
 Constructor AddSmoothingFilter is a planning request adapter plugin which post-processes The robot's trajectory to round out corners The filter name and then its coefficients are obtained from the ROS parameter server. More...
 
virtual std::string getDescription () const
 Returns a short description of this plugin. More...
 
 ~AddSmoothingFilter ()
 Destructor. More...
 
- Public Member Functions inherited from planning_request_adapter::PlanningRequestAdapter
bool adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
 
bool adaptAndPlan (const planning_interface::PlannerManagerPtr &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
 
 PlanningRequestAdapter ()
 
virtual ~PlanningRequestAdapter ()
 

Static Public Attributes

static const std::string FILTER_PARAMETER_NAME_ = "/move_group/smoothing_filter_name"
 

Private Attributes

std::vector< double > filter_coef_
 
std::string filter_name_
 
ros::NodeHandle nh_
 
industrial_trajectory_filters::SmoothingTrajectoryFilter smoothing_filter_
 

Additional Inherited Members

- Public Types inherited from planning_request_adapter::PlanningRequestAdapter
typedef boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn
 

Detailed Description

Definition at line 47 of file add_smoothing_filter.cpp.

Constructor & Destructor Documentation

industrial_trajectory_filters::AddSmoothingFilter::AddSmoothingFilter ( )
inline

Constructor AddSmoothingFilter is a planning request adapter plugin which post-processes The robot's trajectory to round out corners The filter name and then its coefficients are obtained from the ROS parameter server.

Definition at line 57 of file add_smoothing_filter.cpp.

industrial_trajectory_filters::AddSmoothingFilter::~AddSmoothingFilter ( )
inline

Destructor.

Definition at line 91 of file add_smoothing_filter.cpp.

Member Function Documentation

virtual bool industrial_trajectory_filters::AddSmoothingFilter::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
inlinevirtual

The work hourse of planning request adapters.

Parameters
plannerA function called somewhere within this subroutine
planning_scenean object describing the objects and kinematics
reqthe request, includes the starting config, the goal, constraints, etc
resthe response, includes the robot trajectory and other info
added_path_index,aindex of the points added by this adapter, which in this case will be empty

Implements planning_request_adapter::PlanningRequestAdapter.

Definition at line 103 of file add_smoothing_filter.cpp.

virtual std::string industrial_trajectory_filters::AddSmoothingFilter::getDescription ( ) const
inlinevirtual

Returns a short description of this plugin.

Reimplemented from planning_request_adapter::PlanningRequestAdapter.

Definition at line 94 of file add_smoothing_filter.cpp.

Member Data Documentation

std::vector<double> industrial_trajectory_filters::AddSmoothingFilter::filter_coef_
private

Definition at line 132 of file add_smoothing_filter.cpp.

std::string industrial_trajectory_filters::AddSmoothingFilter::filter_name_
private

Definition at line 131 of file add_smoothing_filter.cpp.

const std::string industrial_trajectory_filters::AddSmoothingFilter::FILTER_PARAMETER_NAME_ = "/move_group/smoothing_filter_name"
static

Definition at line 51 of file add_smoothing_filter.cpp.

ros::NodeHandle industrial_trajectory_filters::AddSmoothingFilter::nh_
private

Definition at line 125 of file add_smoothing_filter.cpp.

industrial_trajectory_filters::SmoothingTrajectoryFilter industrial_trajectory_filters::AddSmoothingFilter::smoothing_filter_
private

Definition at line 130 of file add_smoothing_filter.cpp.


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


open_manipulator_with_tb3_waffle_pi_moveit
Author(s): Darby Lim
autogenerated on Mon Jun 10 2019 14:13:54