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>

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::CollisionModelsInterface *	collision_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]`