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ompl_ros_interface::OmplRos Class Reference

Initializes a bunch of planners for different groups (collections of joints and links, e.g. a robot arm). This class gets all its parameters from the ROS parameter server. After initializing, just call run on the class to start it running. More...

#include <ompl_ros.h>

List of all members.

Public Member Functions

boost::shared_ptr
< ompl_ros_interface::OmplRosPlanningGroup > & 
getPlanner (const std::string &group_name, const std::string &planner_config_name)
 Get a particular planner for a given group.
 OmplRos ()
void run (void)
 Start running the planner.
 ~OmplRos ()

Private Member Functions

bool computePlan (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
 Planning - choose the correct planner and then call it with the request.
bool getGroupNamesFromParamServer (const std::string &param_server_prefix, std::vector< std::string > &group_names)
 Get the names of all groups we will be planning for.
bool initialize (const std::string &param_server_prefix)
bool initializePlanningInstance (const std::string &param_server_prefix, const std::string &group_name, const std::string &planner_config_name)
bool initializePlanningMap (const std::string &param_server_prefix, const std::vector< std::string > &group_names)

Private Attributes

planning_environment::CollisionModelsInterfacecollision_models_interface_
std::string default_planner_config_
ros::Publisher diagnostic_publisher_
boost::shared_ptr
< ompl_ros_interface::OmplRosPlanningGroup
empty_ptr
ros::NodeHandle node_handle_
ros::ServiceServer plan_path_service_
std::map< std::string,
boost::shared_ptr
< ompl_ros_interface::OmplRosPlanningGroup > > 
planner_map_
 Map from planner name[group name] to an instance of ompl_ros_interface::OmplPlanningGroup.
bool publish_diagnostics_

Detailed Description

Initializes a bunch of planners for different groups (collections of joints and links, e.g. a robot arm). This class gets all its parameters from the ROS parameter server. After initializing, just call run on the class to start it running.

Definition at line 61 of file ompl_ros.h.


Constructor & Destructor Documentation

ompl_ros_interface::OmplRos::OmplRos ( void   ) 

Definition at line 42 of file ompl_ros.cpp.

ompl_ros_interface::OmplRos::~OmplRos ( void   ) 

Free the memory

Definition at line 48 of file ompl_ros.cpp.


Member Function Documentation

bool ompl_ros_interface::OmplRos::computePlan ( arm_navigation_msgs::GetMotionPlan::Request request,
arm_navigation_msgs::GetMotionPlan::Response response 
) [private]

Planning - choose the correct planner and then call it with the request.

Definition at line 218 of file ompl_ros.cpp.

bool ompl_ros_interface::OmplRos::getGroupNamesFromParamServer ( const std::string &  param_server_prefix,
std::vector< std::string > &  group_names 
) [private]

Get the names of all groups we will be planning for.

Definition at line 102 of file ompl_ros.cpp.

boost::shared_ptr< ompl_ros_interface::OmplRosPlanningGroup > & ompl_ros_interface::OmplRos::getPlanner ( const std::string &  group_name,
const std::string &  planner_config_name 
)

Get a particular planner for a given group.

Definition at line 271 of file ompl_ros.cpp.

bool ompl_ros_interface::OmplRos::initialize ( const std::string &  param_server_prefix  )  [private]

Definition at line 68 of file ompl_ros.cpp.

bool ompl_ros_interface::OmplRos::initializePlanningInstance ( const std::string &  param_server_prefix,
const std::string &  group_name,
const std::string &  planner_config_name 
) [private]

Definition at line 163 of file ompl_ros.cpp.

bool ompl_ros_interface::OmplRos::initializePlanningMap ( const std::string &  param_server_prefix,
const std::vector< std::string > &  group_names 
) [private]

Definition at line 129 of file ompl_ros.cpp.

void ompl_ros_interface::OmplRos::run ( void   ) 

Start running the planner.

Definition at line 53 of file ompl_ros.cpp.


Member Data Documentation

Definition at line 110 of file ompl_ros.h.

Definition at line 112 of file ompl_ros.h.

Definition at line 114 of file ompl_ros.h.

Definition at line 108 of file ompl_ros.h.

Definition at line 111 of file ompl_ros.h.

Definition at line 109 of file ompl_ros.h.

std::map<std::string,boost::shared_ptr<ompl_ros_interface::OmplRosPlanningGroup> > ompl_ros_interface::OmplRos::planner_map_ [private]

Map from planner name[group name] to an instance of ompl_ros_interface::OmplPlanningGroup.

Definition at line 105 of file ompl_ros.h.

Definition at line 113 of file ompl_ros.h.


The documentation for this class was generated from the following files:
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ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Fri Mar 1 14:20:53 2013