include
pilz_industrial_motion_planner_testutils
circ.h
Go to the documentation of this file.
1
/*********************************************************************
2
* Software License Agreement (BSD License)
3
*
4
* Copyright (c) 2019 Pilz GmbH & Co. KG
5
* All rights reserved.
6
*
7
* Redistribution and use in source and binary forms, with or without
8
* modification, are permitted provided that the following conditions
9
* are met:
10
*
11
* * Redistributions of source code must retain the above copyright
12
* notice, this list of conditions and the following disclaimer.
13
* * Redistributions in binary form must reproduce the above
14
* copyright notice, this list of conditions and the following
15
* disclaimer in the documentation and/or other materials provided
16
* with the distribution.
17
* * Neither the name of Pilz GmbH & Co. KG nor the names of its
18
* contributors may be used to endorse or promote products derived
19
* from this software without specific prior written permission.
20
*
21
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32
* POSSIBILITY OF SUCH DAMAGE.
33
*********************************************************************/
34
35
#ifndef CIRC_H
36
#define CIRC_H
37
38
#include <memory>
39
40
#include "
basecmd.h
"
41
#include "
circauxiliary.h
"
42
43
namespace
pilz_industrial_motion_planner_testutils
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
:
62
planning_interface::MotionPlanRequest
toRequest
()
const override
;
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>
73
inline
void
Circ<StartType, AuxiliaryType, GoalType>::setAuxiliaryConfiguration
(AuxiliaryType auxiliary)
74
{
75
auxiliary_ = auxiliary;
76
}
77
78
template
<
class
StartType,
class
AuxiliaryType,
class
GoalType>
79
inline
std::string
Circ<StartType, AuxiliaryType, GoalType>::getPlannerId
()
const
80
{
81
return
"CIRC"
;
82
}
83
84
template
<
class
StartType,
class
AuxiliaryType,
class
GoalType>
85
inline
planning_interface::MotionPlanRequest
Circ<StartType, AuxiliaryType, GoalType>::toRequest
()
const
86
{
87
planning_interface::MotionPlanRequest
req{
BaseCmd<StartType, GoalType>::toRequest
() };
88
req.path_constraints = auxiliary_.toPathConstraints();
89
90
return
req;
91
}
92
93
template
<
class
StartType,
class
AuxiliaryType,
class
GoalType>
94
inline
AuxiliaryType&
Circ<StartType, AuxiliaryType, GoalType>::getAuxiliaryConfiguration
()
95
{
96
return
auxiliary_;
97
}
98
99
template
<
class
StartType,
class
AuxiliaryType,
class
GoalType>
100
inline
const
AuxiliaryType&
Circ<StartType, AuxiliaryType, GoalType>::getAuxiliaryConfiguration
()
const
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
Author(s):
autogenerated on Sat May 3 2025 02:28:27