Commit ee7db8db authored by David Tiede's avatar David Tiede
Browse files

Reformat

parent a9fd2668
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <class_loader/class_loader.hpp>
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <ros/console.h>
namespace safety_planning_request_adapters
{
class AddSafety : public planning_request_adapter::PlanningRequestAdapter
{
int VELOCITY_LIMIT = 3;
class AddSafety : public planning_request_adapter::PlanningRequestAdapter
{
int VELOCITY_LIMIT = 3;
public:
public:
std::string getDescription() const override
{
return "Add Safety";
}
std::string getDescription() const override
{
return "Add Safety";
}
bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
std::vector<std::size_t>& added_path_index) const override
{
ROS_ERROR("ADAPTER PACKAGE: ADAPTER LOADED");
bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
std::vector<std::size_t>& added_path_index) const override
{
ROS_ERROR("ADAPTER PACKAGE: Adapter loaded");
bool result = planner(planning_scene, req, res);
if (result && res.trajectory_) // Only run after planning
{
bool result = planner(planning_scene, req, res);
if (result && res.trajectory_) // Only run after planning
{
ROS_ERROR("ADAPTER PACKAGE: After planning");
// ROS_DEBUG("Running '%s'", getDescription().c_str());
// if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
// req.max_acceleration_scaling_factor))
......@@ -31,11 +32,11 @@ public:
// ROS_ERROR("Time parametrization for the solution path failed.");
// result = false;
// }
}
}
return result;
}
};
return result;
}
};
} // namespace safety_planning_request_adapters
CLASS_LOADER_REGISTER_CLASS(safety_planning_request_adapters::AddSafety, planning_request_adapter::PlanningRequestAdapter);
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