basecmd.h
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34 
35 #ifndef BASECMD_H
36 #define BASECMD_H
37 
38 #include <string>
39 
40 #include "motioncmd.h"
41 
43 {
44 template <class StartType, class GoalType>
45 class BaseCmd : public MotionCmd
46 {
47 public:
48  BaseCmd() : MotionCmd()
49  {
50  }
51 
52  virtual ~BaseCmd() = default;
53 
54 public:
56 
57  void setStartConfiguration(StartType start);
58  void setGoalConfiguration(GoalType goal);
59 
60  StartType& getStartConfiguration();
61  const StartType& getStartConfiguration() const;
62 
63  GoalType& getGoalConfiguration();
64  const GoalType& getGoalConfiguration() const;
65 
66 private:
67  virtual std::string getPlannerId() const = 0;
68 
69 protected:
70  GoalType goal_;
71  StartType start_;
72 };
73 
74 //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
75 template <class StartType, class GoalType>
77 {
78  start_ = start;
79 }
80 
81 template <class StartType, class GoalType>
83 {
84  goal_ = goal;
85 }
86 
87 template <class StartType, class GoalType>
89 {
90  return start_;
91 }
92 
93 template <class StartType, class GoalType>
94 inline const StartType& BaseCmd<StartType, GoalType>::getStartConfiguration() const
95 {
96  return start_;
97 }
98 
99 template <class StartType, class GoalType>
101 {
102  return goal_;
103 }
104 
105 template <class StartType, class GoalType>
106 inline const GoalType& BaseCmd<StartType, GoalType>::getGoalConfiguration() const
107 {
108  return goal_;
109 }
110 
111 template <class StartType, class GoalType>
113 {
115  req.planner_id = getPlannerId();
116  req.group_name = this->planning_group_;
117 
118  req.max_velocity_scaling_factor = this->vel_scale_;
119  req.max_acceleration_scaling_factor = this->acc_scale_;
120 
121  req.start_state = this->start_.toMoveitMsgsRobotState();
122  req.goal_constraints.push_back(this->goal_.toGoalConstraints());
123 
124  return req;
125 }
126 } // namespace pilz_industrial_motion_planner_testutils
127 
128 #endif // BASECMD_H
pilz_industrial_motion_planner_testutils::BaseCmd::getGoalConfiguration
GoalType & getGoalConfiguration()
Definition: basecmd.h:132
pilz_industrial_motion_planner_testutils::BaseCmd::BaseCmd
BaseCmd()
Definition: basecmd.h:112
pilz_industrial_motion_planner_testutils::MotionCmd
Base class for commands storing all general information of a command.
Definition: motioncmd.h:80
pilz_industrial_motion_planner_testutils::BaseCmd::getStartConfiguration
StartType & getStartConfiguration()
Definition: basecmd.h:120
pilz_industrial_motion_planner_testutils::BaseCmd::setStartConfiguration
void setStartConfiguration(StartType start)
Definition: basecmd.h:108
pilz_industrial_motion_planner_testutils::BaseCmd::start_
StartType start_
Definition: basecmd.h:135
pilz_industrial_motion_planner_testutils::BaseCmd::setGoalConfiguration
void setGoalConfiguration(GoalType goal)
Definition: basecmd.h:114
pilz_industrial_motion_planner_testutils::BaseCmd
Definition: basecmd.h:77
pilz_industrial_motion_planner_testutils::BaseCmd::toRequest
planning_interface::MotionPlanRequest toRequest() const override
Definition: basecmd.h:144
motioncmd.h
pilz_industrial_motion_planner_testutils
Definition: basecmd.h:42
planning_interface::MotionPlanRequest
moveit_msgs::MotionPlanRequest MotionPlanRequest
pilz_industrial_motion_planner_testutils::BaseCmd::~BaseCmd
virtual ~BaseCmd()=default
start
ROSCPP_DECL void start()
pilz_industrial_motion_planner_testutils::BaseCmd::goal_
GoalType goal_
Definition: basecmd.h:134
pilz_industrial_motion_planner_testutils::BaseCmd::getPlannerId
virtual std::string getPlannerId() const =0
pilz_industrial_motion_planner_testutils::MotionCmd::MotionCmd
MotionCmd()
Definition: motioncmd.h:115


pilz_industrial_motion_planner_testutils
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autogenerated on Sat May 3 2025 02:28:27