Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ctor classes derived from it can not be plugins. This class serves as base class for wrappers. More...

#include <planning_context_loader.h>

Inheritance diagram for pilz::PlanningContextLoader:

[legend]

Public Member Functions
virtual std::string	getAlgorithm () const
	Return the algorithm the loader uses. More...

virtual bool	loadContext (planning_interface::PlanningContextPtr &planning_context, const std::string &name, const std::string &group) const =0
	Return the planning context. More...

	PlanningContextLoader ()

virtual bool	setLimits (const pilz::LimitsContainer &limits)
	Sets limits the planner can pass to the contexts. More...

virtual bool	setModel (const moveit::core::RobotModelConstPtr &model)
	Sets the robot model that can be passed to the planning context. More...

virtual	~PlanningContextLoader ()

Protected Member Functions
template<typename T >
bool	loadContext (planning_interface::PlanningContextPtr &planning_context, const std::string &name, const std::string &group) const
	Return the planning context of type T. More...

Protected Attributes
std::string	alg_
	Name of the algorithm. More...

pilz::LimitsContainer	limits_
	Limits to be used during planning. More...

bool	limits_set_
	True if limits are set. More...

moveit::core::RobotModelConstPtr	model_
	The robot model. More...

bool	model_set_
	True if model is set. More...

Detailed Description

Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ctor classes derived from it can not be plugins. This class serves as base class for wrappers.

Definition at line 37 of file planning_context_loader.h.

Constructor & Destructor Documentation

pilz::PlanningContextLoader::PlanningContextLoader ( )

Definition at line 20 of file planning_context_loader.cpp.

pilz::PlanningContextLoader::~PlanningContextLoader ( )

virtual

Definition at line 27 of file planning_context_loader.cpp.

Member Function Documentation

std::string pilz::PlanningContextLoader::getAlgorithm ( ) const

virtual

Return the algorithm the loader uses.

Definition at line 43 of file planning_context_loader.cpp.

virtual bool pilz::PlanningContextLoader::loadContext	(	planning_interface::PlanningContextPtr &	planning_context,
		const std::string &	name,
		const std::string &	group
	)		const

pure virtual

Return the planning context.

Parameters

planning_context
name	context name
group	name of the planning group

Returns: true on success, false otherwise

Implemented in pilz::PlanningContextLoaderCIRC, pilz::PlanningContextLoaderLIN, and pilz::PlanningContextLoaderPTP.

template<typename T >

bool pilz::PlanningContextLoader::loadContext	(	planning_interface::PlanningContextPtr &	planning_context,
		const std::string &	name,
		const std::string &	group
	)		const

protected

Return the planning context of type T.

Parameters

planning_context
name	context name
group	name of the planning group

Returns: true on success, false otherwise

Definition at line 109 of file planning_context_loader.h.

bool pilz::PlanningContextLoader::setLimits ( const pilz::LimitsContainer & limits )

virtual

Sets limits the planner can pass to the contexts.

Parameters

limits container of limits, no guarantee to contain the limits for all joints of the model

Returns: true if limits could be set

Definition at line 36 of file planning_context_loader.cpp.

bool pilz::PlanningContextLoader::setModel ( const moveit::core::RobotModelConstPtr & model )

virtual

Sets the robot model that can be passed to the planning context.

Parameters

model The robot model

Returns: false if could not be set

Definition at line 29 of file planning_context_loader.cpp.

Member Data Documentation

std::string pilz::PlanningContextLoader::alg_

protected

Name of the algorithm.

Definition at line 88 of file planning_context_loader.h.

pilz::LimitsContainer pilz::PlanningContextLoader::limits_

protected

Limits to be used during planning.

Definition at line 94 of file planning_context_loader.h.

bool pilz::PlanningContextLoader::limits_set_

protected

True if limits are set.

Definition at line 91 of file planning_context_loader.h.

moveit::core::RobotModelConstPtr pilz::PlanningContextLoader::model_

protected

The robot model.

Definition at line 100 of file planning_context_loader.h.

bool pilz::PlanningContextLoader::model_set_

protected

True if model is set.

Definition at line 97 of file planning_context_loader.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation