ompl_ros_interface::OmplRosJointPlanner Class Reference

A joint planner - this is the planner that most applications will use. More...

#include <ompl_ros_joint_planner.h>

Inheritance diagram for ompl_ros_interface::OmplRosJointPlanner:

Public Member Functions
	OmplRosJointPlanner ()
	~OmplRosJointPlanner ()
Protected Member Functions
virtual arm_navigation_msgs::RobotTrajectory	getSolutionPath ()
	Returns the solution path.
virtual bool	initializePlanningStateSpace (ompl::base::StateSpacePtr &state_space)
	Initialize the planning state space.
virtual bool	initializeStateValidityChecker (ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker)
	Initialize the state validity checker.
virtual bool	isRequestValid (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
	Returns whether the motion planning request is valid.
virtual bool	setGoal (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
	Set the goal state(s).
virtual bool	setStart (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
	Set the start state(s).
Private Member Functions
bool	setJointGoal (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
bool	setPoseGoal (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
Private Attributes
std::string	end_effector_name_
ompl_ros_interface::OmplRosIKSampler	ik_sampler_
bool	ik_sampler_available_
ompl_ros_interface::KinematicStateToOmplStateMapping	kinematic_state_to_ompl_state_mapping_
std::string	kinematics_solver_name_
ompl_ros_interface::OmplStateToKinematicStateMapping	ompl_state_to_kinematic_state_mapping_
ompl_ros_interface::OmplStateToRobotStateMapping	ompl_state_to_robot_state_mapping_
arm_navigation_msgs::RobotState	robot_state_
ompl_ros_interface::RobotStateToOmplStateMapping	robot_state_to_ompl_state_mapping_

Detailed Description

A joint planner - this is the planner that most applications will use.

Definition at line 54 of file ompl_ros_joint_planner.h.

Constructor & Destructor Documentation

ompl_ros_interface::OmplRosJointPlanner::OmplRosJointPlanner ( ) [inline]

Definition at line 58 of file ompl_ros_joint_planner.h.

ompl_ros_interface::OmplRosJointPlanner::~OmplRosJointPlanner ( ) [inline]

Definition at line 59 of file ompl_ros_joint_planner.h.

Member Function Documentation

arm_navigation_msgs::RobotTrajectory ompl_ros_interface::OmplRosJointPlanner::getSolutionPath ( ) [protected, virtual]

Returns the solution path.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 245 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::initializePlanningStateSpace ( ompl::base::StateSpacePtr & state_space ) [protected, virtual]

Initialize the planning state space.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 42 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::initializeStateValidityChecker ( ompl_ros_interface::OmplRosStateValidityCheckerPtr & state_validity_checker ) [protected, virtual]

Initialize the state validity checker.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 237 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::isRequestValid	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)			`[protected, virtual]`

Returns whether the motion planning request is valid.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 75 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setGoal	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)			`[protected, virtual]`

Set the goal state(s).

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 121 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setJointGoal	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)			`[private]`

Definition at line 174 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setPoseGoal	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)			`[private]`

Definition at line 221 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setStart	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)			`[protected, virtual]`