PlanningContext for obtaining trajectories. More...

#include <planning_context_base.h>

Inheritance diagram for pilz::PlanningContextBase< GeneratorT >:

Public Member Functions
virtual void	clear () override

	PlanningContextBase (const std::string &name, const std::string &group, const moveit::core::RobotModelConstPtr &model, const pilz::LimitsContainer &limits)

virtual bool	solve (planning_interface::MotionPlanResponse &res) override
	Calculates a trajectory for the request this context is currently set for. More...

virtual bool	solve (planning_interface::MotionPlanDetailedResponse &res) override
	Will return the same trajectory as solve(planning_interface::MotionPlanResponse& res) This function just delegates to the common response however here the same trajectory is stored with the descriptions "plan", "simplify", "interpolate". More...

virtual bool	terminate () override
	Will terminate solve() More...

virtual	~PlanningContextBase ()

Public Member Functions inherited from planning_interface::PlanningContext
const std::string &	getGroupName () const

const MotionPlanRequest &	getMotionPlanRequest () const

const std::string &	getName () const

const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const

	PlanningContext (const std::string &name, const std::string &group)

void	setMotionPlanRequest (const MotionPlanRequest &request)

void	setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)

virtual	~PlanningContext ()

Public Attributes
pilz::LimitsContainer	limits_
	Joint limits to be used during planning. More...

robot_model::RobotModelConstPtr	model_
	The robot model. More...

std::atomic_bool	terminated_
	Flag if terminated. More...

Protected Attributes
GeneratorT	generator_

Protected Attributes inherited from planning_interface::PlanningContext
std::string	group_

std::string	name_

planning_scene::PlanningSceneConstPtr	planning_scene_

MotionPlanRequest	request_

Detailed Description

template<typename GeneratorT>
class pilz::PlanningContextBase< GeneratorT >

PlanningContext for obtaining trajectories.

Definition at line 40 of file planning_context_base.h.

Constructor & Destructor Documentation

template<typename GeneratorT>

pilz::PlanningContextBase< GeneratorT >::PlanningContextBase	(	const std::string &	name,
		const std::string &	group,
		const moveit::core::RobotModelConstPtr &	model,
		const pilz::LimitsContainer &	limits
	)

inline

Definition at line 44 of file planning_context_base.h.

template<typename GeneratorT>

virtual pilz::PlanningContextBase< GeneratorT >::~PlanningContextBase ( )

inlinevirtual

Definition at line 54 of file planning_context_base.h.

Member Function Documentation

template<typename GeneratorT >

void pilz::PlanningContextBase< GeneratorT >::clear ( void )

overridevirtual

Implements planning_interface::PlanningContext.

Definition at line 157 of file planning_context_base.h.

template<typename GeneratorT >

bool pilz::PlanningContextBase< GeneratorT >::solve ( planning_interface::MotionPlanResponse & res )

overridevirtual

Calculates a trajectory for the request this context is currently set for.

Parameters

res	The result containing the respective trajectory, or error_code on failure

Returns: true on success, false otherwise

Implements planning_interface::PlanningContext.

Definition at line 100 of file planning_context_base.h.

template<typename GeneratorT >

bool pilz::PlanningContextBase< GeneratorT >::solve ( planning_interface::MotionPlanDetailedResponse & res )

overridevirtual

Will return the same trajectory as solve(planning_interface::MotionPlanResponse& res) This function just delegates to the common response however here the same trajectory is stored with the descriptions "plan", "simplify", "interpolate".

Parameters

res	The detailed response

Returns: true on success, false otherwise

Implements planning_interface::PlanningContext.

Definition at line 124 of file planning_context_base.h.

template<typename GeneratorT >

bool pilz::PlanningContextBase< GeneratorT >::terminate ( )

overridevirtual

Will terminate solve()

Returns

Note: Currently will not stop a runnning solve but

Implements planning_interface::PlanningContext.

Definition at line 148 of file planning_context_base.h.

Member Data Documentation

template<typename GeneratorT>

GeneratorT pilz::PlanningContextBase< GeneratorT >::generator_

protected

Definition at line 94 of file planning_context_base.h.

template<typename GeneratorT>

pilz::LimitsContainer pilz::PlanningContextBase< GeneratorT >::limits_

Joint limits to be used during planning.

Definition at line 91 of file planning_context_base.h.

template<typename GeneratorT>

robot_model::RobotModelConstPtr pilz::PlanningContextBase< GeneratorT >::model_

The robot model.

Definition at line 88 of file planning_context_base.h.

template<typename GeneratorT>

std::atomic_bool pilz::PlanningContextBase< GeneratorT >::terminated_

Flag if terminated.

Definition at line 85 of file planning_context_base.h.

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

planning_context_base.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename GeneratorT> class pilz::PlanningContextBase< GeneratorT >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename GeneratorT>
class pilz::PlanningContextBase< GeneratorT >