Class WorkspaceFeatures

Inheritance Relationships

Base Type

Class Documentation

class WorkspaceFeatures : public moveit_ros::trajectory_cache::FeaturesInterface<moveit_msgs::msg::MotionPlanRequest>

Extracts group name and details of the workspace_parameters field in the plan request.

A cache hit with this feature is valid if the requested planning constraints has a workspace that completely subsumes a cached entry’s workspace.

For example: (We ignore z for simplicity) If workspace is defined by the extrema (x_min, y_min, x_max, y_max),

Potential valid match if other constraints fulfilled: Request: (-1, -1, 1, 1) Plan in cache: (-0.5, -0.5, 0.5, 0.5)

No match, since this plan might cause the end effector to go out of bounds.: Request: (-1, -1, 1, 1) Plan in cache: (-2, -0.5, 0.5, 0.5)

Public Functions

WorkspaceFeatures()
virtual std::string getName() const override

Gets the name of the features implementation.

virtual moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query &query, const moveit_msgs::msg::MotionPlanRequest &source, const moveit::planning_interface::MoveGroupInterface &move_group, double exact_match_precision) const override

Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with fuzzy matching.

These parameters will be used key the cache element in a fuzzy manner.

Parameters:

  • query. – [inout] The query to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

  • exact_match_precision. – [in] Tolerance for float precision comparison for what counts as an exact match.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

virtual moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(warehouse_ros::Query &query, const moveit_msgs::msg::MotionPlanRequest &source, const moveit::planning_interface::MoveGroupInterface &move_group, double exact_match_precision) const override

Extracts relevant features from FeatureSourceT, to be appended to a fetch query, with exact matching.

These parameters will be used key the cache element in an exact manner.

Parameters:

  • query. – [inout] The query to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

  • exact_match_precision. – [in] Tolerance for float precision comparison for what counts as an exact match.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

virtual moveit::core::MoveItErrorCode appendFeaturesAsInsertMetadata(warehouse_ros::Metadata &metadata, const moveit_msgs::msg::MotionPlanRequest &source, const moveit::planning_interface::MoveGroupInterface &move_group) const override

Extracts relevant features from FeatureSourceT, to be appended to a cache entry’s metadata.

These parameters will be used key the cache element.

Parameters:

  • metadata. – [inout] The metadata to add features to.

  • source. – [in] A FeatureSourceT to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused.