planning_context_loader_circ.cpp

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#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
 
#include <pilz_industrial_motion_planner/planning_context_loader_circ.h>
#include <moveit/planning_scene/planning_scene.h>
#include <pilz_industrial_motion_planner/planning_context_base.h>
#include <pilz_industrial_motion_planner/planning_context_circ.h>
#include <moveit/utils/logger.hpp>
 
#include <pluginlib/class_list_macros.hpp>
 
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.planners.pilz.planning_context_loader.circ");
}
}  // namespace
 
pilz_industrial_motion_planner::PlanningContextLoaderCIRC::PlanningContextLoaderCIRC()
{
  alg_ = "CIRC";
}
 
pilz_industrial_motion_planner::PlanningContextLoaderCIRC::~PlanningContextLoaderCIRC()
{
}
 
bool pilz_industrial_motion_planner::PlanningContextLoaderCIRC::loadContext(
    planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
{
  if (limits_set_ && model_set_)
  {
    planning_context = std::make_shared<PlanningContextCIRC>(name, group, model_, limits_);
    return true;
  }
  else
  {
    if (!limits_set_)
    {
      RCLCPP_ERROR_STREAM(getLogger(),
                          "Limits are not defined. Cannot load planning context. Call setLimits loadContext");
    }
    if (!model_set_)
    {
      RCLCPP_ERROR_STREAM(getLogger(), "Robot model was not set");
    }
    return false;
  }
}
 
PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::PlanningContextLoaderCIRC,
                       pilz_industrial_motion_planner::PlanningContextLoader)