Class PlanningHandler

• Defined in File planning_strategy.hpp

Class Documentation

class PlanningHandler

Public Functions

inline PlanningHandler(std::shared_ptr<MoveItGroup> move_group, rclcpp::Client<GetMotionSequenceSrv>::SharedPtr service_client)

inline void SetStrategy(std::unique_ptr<PlanningStrategy> strategy)

inline void SetParams(std::shared_ptr<PlanningStrategyParams> params)

template<typename TargetType>
inline MoveItPlan MakePlan(const TargetType &target) const

Create a plan for a specified target input.

Template Parameters:

TargetType – Support either PoseStamped or PoseArray.

Parameters:

• move_group –

• target –

Throws:

<tt>std::runtime_error</tt> – If strategy or params are not set.

Returns:

moveit::planning_interface::MoveGroupInterface::Plan

inline std::unique_ptr<PlanningStrategy> CreateJointSpacePlanningStrategy()

inline std::unique_ptr<PlanningStrategy> CreateCartesianSpacePlanningStrategy()

inline std::unique_ptr<PlanningStrategy> CreateCartesianInterpolationPlanningStrategy()