C++ (Cpp) PlanningSceneMonitor примеры использования

Пример #1

Файл: ompl_planner.cpp Проект: ksenglee/ros

 OMPLPlannerService(planning_scene_monitor::PlanningSceneMonitor &psm, bool debug = false) :
   nh_("~"), psm_(psm), ompl_interface_(psm.getPlanningScene()->getRobotModel()), debug_(debug)
 {
   plan_service_ = nh_.advertiseService(PLANNER_SERVICE_NAME, &OMPLPlannerService::computePlan, this);
   if (debug_)
   {
     pub_plan_ = nh_.advertise<moveit_msgs::DisplayTrajectory>("display_motion_plan", 100);
     pub_request_ = nh_.advertise<moveit_msgs::MotionPlanRequest>("motion_plan_request", 100);
   }
 }

Пример #2

Файл: ompl_planner.cpp Проект: ngtienthanh/crops-moveit

 OMPLPlannerService(planning_scene_monitor::PlanningSceneMonitor &psm, bool debug = false) :
   nh_("~"), psm_(psm), ompl_interface_(psm.getPlanningScene()->getRobotModel()), debug_(debug)
 {
   plan_service_ = nh_.advertiseService(PLANNER_SERVICE_NAME, &OMPLPlannerService::computePlan, this);
   benchmark_service_ = nh_.advertiseService(BENCHMARK_SERVICE_NAME, &OMPLPlannerService::computeBenchmark, this);
   construct_ca_service_ = nh_.advertiseService(CONSTRUCT_CONSTRAINT_APPROXIMATION_SERVICE_NAME, &OMPLPlannerService::constructConstraintApproximation, this);
   if (debug_)
   {
     pub_plan_ = nh_.advertise<moveit_msgs::DisplayTrajectory>("display_motion_plan", 100);
     pub_request_ = nh_.advertise<moveit_msgs::MotionPlanRequest>("motion_plan_request", 100);
   }
 }