A generic task space planner. More...

#include <ompl_ros_task_space_planner.h>

Inheritance diagram for ompl_ros_interface::OmplRosTaskSpacePlanner:

Public Member Functions
	OmplRosTaskSpacePlanner ()
	~OmplRosTaskSpacePlanner ()
Protected Member Functions
virtual bool	constraintsToOmplState (const arm_navigation_msgs::Constraints &constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &goal)
virtual arm_navigation_msgs::RobotTrajectory	getSolutionPath ()=0
	Returns the solution path.
bool	getSpaceFromParamServer (const ros::NodeHandle &node_handle, const std::string &space_name, ompl::base::StateSpacePtr &state_space, int &real_vector_index)
	Load a state space from the parameter server.
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)
Protected Attributes
std::string	end_effector_name_
std::string	planning_frame_id_
boost::shared_ptr < ompl_ros_interface::OmplRosStateTransformer >	state_transformer_

Detailed Description

A generic task space planner.

Definition at line 53 of file ompl_ros_task_space_planner.h.

Constructor & Destructor Documentation

ompl_ros_interface::OmplRosTaskSpacePlanner::OmplRosTaskSpacePlanner ( ) [inline]

Definition at line 57 of file ompl_ros_task_space_planner.h.

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

Definition at line 58 of file ompl_ros_task_space_planner.h.

Member Function Documentation

bool ompl_ros_interface::OmplRosTaskSpacePlanner::constraintsToOmplState	(	const arm_navigation_msgs::Constraints &	constraints,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	goal
	)		`[protected, virtual]`

Reimplemented in ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner.

Definition at line 245 of file ompl_ros_task_space_planner.cpp.

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

Returns the solution path.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Implemented in ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner.

bool ompl_ros_interface::OmplRosTaskSpacePlanner::getSpaceFromParamServer	(	const ros::NodeHandle &	node_handle,
		const std::string &	space_name,
		ompl::base::StateSpacePtr &	state_space,
		int &	real_vector_index
	)		`[protected]`

Load a state space from the parameter server.

Parameters:

node_handle	- The node handle to load the state space information from
space_name	- The name of the state space to initialize
state_space	- The state space to use
real_vector_index	- The index of the real vector state space in the state space (treated as a compound state space)

Definition at line 103 of file ompl_ros_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosTaskSpacePlanner::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_task_space_planner.cpp.

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

Initialize the state validity checker.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Reimplemented in ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner.

Definition at line 278 of file ompl_ros_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosTaskSpacePlanner::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 185 of file ompl_ros_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosTaskSpacePlanner::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 216 of file ompl_ros_task_space_planner.cpp.

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