circ.h
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34 
35 #ifndef CIRC_H
36 #define CIRC_H
37 
38 #include <memory>
39 
40 #include "basecmd.h"
41 #include "circauxiliary.h"
42 
44 {
48 template <class StartType, class AuxiliaryType, class GoalType>
49 class Circ : public BaseCmd<StartType, GoalType>
50 {
51 public:
52  Circ() : BaseCmd<StartType, GoalType>()
53  {
54  }
55 
56 public:
57  void setAuxiliaryConfiguration(AuxiliaryType auxiliary);
58  AuxiliaryType& getAuxiliaryConfiguration();
59  const AuxiliaryType& getAuxiliaryConfiguration() const;
60 
61 public:
63 
64 private:
65  std::string getPlannerId() const override;
66 
67 private:
68  AuxiliaryType auxiliary_;
69 };
70 
71 //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
72 template <class StartType, class AuxiliaryType, class GoalType>
74 {
75  auxiliary_ = auxiliary;
76 }
77 
78 template <class StartType, class AuxiliaryType, class GoalType>
80 {
81  return "CIRC";
82 }
83 
84 template <class StartType, class AuxiliaryType, class GoalType>
86 {
88  req.path_constraints = auxiliary_.toPathConstraints();
89 
90  return req;
91 }
92 
93 template <class StartType, class AuxiliaryType, class GoalType>
95 {
96  return auxiliary_;
97 }
98 
99 template <class StartType, class AuxiliaryType, class GoalType>
101 {
102  return auxiliary_;
103 }
104 } // namespace pilz_industrial_motion_planner_testutils
105 
106 #endif // CIRC_H
pilz_industrial_motion_planner_testutils::BaseCmd::BaseCmd
BaseCmd()
Definition: basecmd.h:112
pilz_industrial_motion_planner_testutils::Circ::getAuxiliaryConfiguration
AuxiliaryType & getAuxiliaryConfiguration()
Definition: circ.h:126
pilz_industrial_motion_planner_testutils::Circ::auxiliary_
AuxiliaryType auxiliary_
Definition: circ.h:132
pilz_industrial_motion_planner_testutils::Circ::toRequest
planning_interface::MotionPlanRequest toRequest() const override
Definition: circ.h:117
pilz_industrial_motion_planner_testutils::BaseCmd::toRequest
planning_interface::MotionPlanRequest toRequest() const override
Definition: basecmd.h:144
pilz_industrial_motion_planner_testutils
Definition: basecmd.h:42
pilz_industrial_motion_planner_testutils::Circ::Circ
Circ()
Definition: circ.h:116
planning_interface::MotionPlanRequest
moveit_msgs::MotionPlanRequest MotionPlanRequest
pilz_industrial_motion_planner_testutils::Circ::setAuxiliaryConfiguration
void setAuxiliaryConfiguration(AuxiliaryType auxiliary)
Definition: circ.h:105
circauxiliary.h
pilz_industrial_motion_planner_testutils::Circ::getPlannerId
std::string getPlannerId() const override
Definition: circ.h:111
basecmd.h


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