44 template <
class StartType,
class GoalType>
75 template <
class StartType,
class GoalType>
81 template <
class StartType,
class GoalType>
87 template <
class StartType,
class GoalType>
93 template <
class StartType,
class GoalType>
99 template <
class StartType,
class GoalType>
105 template <
class StartType,
class GoalType>
111 template <
class StartType,
class GoalType>
115 req.planner_id = getPlannerId();
116 req.group_name = this->planning_group_;
118 req.max_velocity_scaling_factor = this->vel_scale_;
119 req.max_acceleration_scaling_factor = this->acc_scale_;
121 req.start_state = this->start_.toMoveitMsgsRobotState();
122 req.goal_constraints.push_back(this->goal_.toGoalConstraints());