Ejemplo n.º 1
0
 virtual bool InitPlan(RobotBasePtr pbase, std::istream& isParameters)
 {
     EnvironmentMutex::scoped_lock lock(GetEnv()->GetMutex());
     _parameters.reset(new TrajectoryTimingParameters());
     isParameters >> *_parameters;
     return _InitPlan();
 }
 virtual bool InitPlan(RobotBasePtr pbase, PlannerParametersConstPtr params)
 {
     EnvironmentMutex::scoped_lock lock(GetEnv()->GetMutex());
     _parameters.reset(new TrajectoryTimingParameters());
     _parameters->copy(params);
     _probot = pbase;
     return _InitPlan();
 }