Function moveit_py::bind_planning_component::plan

• Defined in File planning_component.hpp

Function Documentation

planning_interface::MotionPlanResponse moveit_py::bind_planning_component::plan(std::shared_ptr<moveit_cpp::PlanningComponent> &planning_component, std::shared_ptr<moveit_cpp::PlanningComponent::PlanRequestParameters> &single_plan_parameters, std::shared_ptr<moveit_cpp::PlanningComponent::MultiPipelinePlanRequestParameters> &multi_plan_parameters, std::shared_ptr<planning_scene::PlanningScene> &planning_scene, std::optional<const moveit::planning_pipeline_interfaces::SolutionSelectionFunction> solution_selection_function, std::optional<moveit::planning_pipeline_interfaces::StoppingCriterionFunction> stopping_criterion_callback)