plan_representation.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
41 #include <moveit_msgs/MoveItErrorCodes.h>
42 #include <boost/function.hpp>
43 
44 namespace plan_execution
45 {
46 struct ExecutableMotionPlan;
47 
49 struct ExecutableTrajectory
50 {
52  {
53  }
54 
55  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description,
56  std::vector<std::string> controller_names = {})
57  : trajectory_(trajectory)
58  , description_(description)
60  , controller_names_(std::move(controller_names))
61  {
62  }
63 
64  robot_trajectory::RobotTrajectoryPtr trajectory_;
65  std::string description_;
67  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
68  boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
69  std::vector<std::string> controller_names_;
70 };
71 
73 struct ExecutableMotionPlan
74 {
75  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
76  planning_scene::PlanningSceneConstPtr planning_scene_;
77 
78  std::vector<ExecutableTrajectory> plan_components_;
79 
81  robot_trajectory::RobotTrajectoryPtr executed_trajectory_;
82 
84  moveit_msgs::MoveItErrorCodes error_code_;
85 };
86 
88 using ExecutableMotionPlanComputationFn = boost::function<bool(ExecutableMotionPlan&)>;
89 } // namespace plan_execution
plan_execution::ExecutableMotionPlan::planning_scene_
planning_scene::PlanningSceneConstPtr planning_scene_
Definition: plan_representation.h:108
plan_execution::ExecutableMotionPlan::executed_trajectory_
robot_trajectory::RobotTrajectoryPtr executed_trajectory_
The trace of the trajectory recorded during execution.
Definition: plan_representation.h:113
plan_execution::ExecutableMotionPlan::planning_scene_monitor_
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_
Definition: plan_representation.h:107
plan_execution::ExecutableTrajectory::trajectory_
robot_trajectory::RobotTrajectoryPtr trajectory_
Definition: plan_representation.h:96
plan_execution::ExecutableTrajectory::allowed_collision_matrix_
collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_
Definition: plan_representation.h:99
plan_execution::ExecutableTrajectory::trajectory_monitoring_
bool trajectory_monitoring_
Definition: plan_representation.h:98
robot_trajectory.h
plan_execution::ExecutableMotionPlan::plan_components_
std::vector< ExecutableTrajectory > plan_components_
Definition: plan_representation.h:110
plan_execution::ExecutableTrajectory::description_
std::string description_
Definition: plan_representation.h:97
planning_scene_monitor.h
plan_execution::ExecutableTrajectory::effect_on_success_
boost::function< bool(const ExecutableMotionPlan *)> effect_on_success_
Definition: plan_representation.h:100
plan_execution::ExecutableMotionPlan::error_code_
moveit_msgs::MoveItErrorCodes error_code_
An error code reflecting what went wrong (if anything)
Definition: plan_representation.h:116
plan_execution
This namespace includes functionality specific to the execution and monitoring of motion plans.
Definition: plan_execution.h:50
plan_execution::ExecutableTrajectory::ExecutableTrajectory
ExecutableTrajectory()
Definition: plan_representation.h:83
plan_execution::ExecutableMotionPlan
A generic representation on what a computed motion plan looks like.
Definition: plan_representation.h:105
plan_execution::ExecutableMotionPlanComputationFn
boost::function< bool(ExecutableMotionPlan &)> ExecutableMotionPlanComputationFn
The signature of a function that can compute a motion plan.
Definition: plan_representation.h:120
plan_execution::ExecutableTrajectory::controller_names_
std::vector< std::string > controller_names_
Definition: plan_representation.h:101


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Fri Dec 3 2021 03:23:49