#include <model_based_planning_context.h>

Inheritance diagram for ompl_interface::ModelBasedPlanningContext:

Public Member Functions
bool	benchmark (double timeout, unsigned int count, const std::string &filename="")

virtual void	clear ()

virtual void	configure ()

void	convertPath (const og::PathGeometric &pg, robot_trajectory::RobotTrajectory &traj) const

const robot_state::RobotState &	getCompleteInitialRobotState () const

const constraint_samplers::ConstraintSamplerManagerPtr &	getConstraintSamplerManager ()

const robot_model::JointModelGroup *	getJointModelGroup () const

double	getLastPlanTime () const

double	getLastSimplifyTime () const

unsigned int	getMaximumGoalSamples () const

unsigned int	getMaximumGoalSamplingAttempts () const

unsigned int	getMaximumPlanningThreads () const

double	getMaximumSolutionSegmentLength () const

unsigned int	getMaximumStateSamplingAttempts () const

unsigned int	getMinimumWaypointCount () const

const ot::Benchmark &	getOMPLBenchmark () const

ot::Benchmark &	getOMPLBenchmark ()

const og::SimpleSetupPtr &	getOMPLSimpleSetup () const

og::SimpleSetupPtr &	getOMPLSimpleSetup ()

const ModelBasedStateSpacePtr &	getOMPLStateSpace () const

const kinematic_constraints::KinematicConstraintSetPtr &	getPathConstraints () const

const robot_model::RobotModelConstPtr &	getRobotModel () const

bool	getSolutionPath (robot_trajectory::RobotTrajectory &traj) const

const ModelBasedPlanningContextSpecification &	getSpecification () const

const std::map< std::string, std::string > &	getSpecificationConfig () const

void	interpolateSolution ()

	ModelBasedPlanningContext (const std::string &name, const ModelBasedPlanningContextSpecification &spec)

void	setCompleteInitialState (const robot_state::RobotState &complete_initial_robot_state)

void	setConstraintSamplerManager (const constraint_samplers::ConstraintSamplerManagerPtr &csm)

void	setConstraintsApproximations (const ConstraintsLibraryConstPtr &constraints_library)

bool	setGoalConstraints (const std::vector< moveit_msgs::Constraints > &goal_constraints, const moveit_msgs::Constraints &path_constraints, moveit_msgs::MoveItErrorCodes *error)

void	setMaximumGoalSamples (unsigned int max_goal_samples)

void	setMaximumGoalSamplingAttempts (unsigned int max_goal_sampling_attempts)

void	setMaximumPlanningThreads (unsigned int max_planning_threads)

void	setMaximumSolutionSegmentLength (double mssl)

void	setMaximumStateSamplingAttempts (unsigned int max_state_sampling_attempts)

void	setMinimumWaypointCount (unsigned int mwc)
	Get the minimum number of waypoints along the solution path. More...

bool	setPathConstraints (const moveit_msgs::Constraints &path_constraints, moveit_msgs::MoveItErrorCodes *error)

void	setPlanningVolume (const moveit_msgs::WorkspaceParameters &wparams)

void	setProjectionEvaluator (const std::string &peval)

void	setSpecificationConfig (const std::map< std::string, std::string > &config)

void	setVerboseStateValidityChecks (bool flag)

void	simplifySolution (double timeout)

bool	simplifySolutions () const

void	simplifySolutions (bool flag)

virtual bool	solve (planning_interface::MotionPlanResponse &res)

virtual bool	solve (planning_interface::MotionPlanDetailedResponse &res)

bool	solve (double timeout, unsigned int count)

virtual bool	terminate ()

bool	useStateValidityCache () const

void	useStateValidityCache (bool flag)

virtual	~ModelBasedPlanningContext ()

Public Member Functions inherited from planning_interface::PlanningContext
const std::string &	getGroupName () const

const MotionPlanRequest &	getMotionPlanRequest () const

const std::string &	getName () const

const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const

	PlanningContext (const std::string &name, const std::string &group)

void	setMotionPlanRequest (const MotionPlanRequest &request)

void	setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)

virtual	~PlanningContext ()

Protected Member Functions
virtual ob::StateSamplerPtr	allocPathConstrainedSampler (const ompl::base::StateSpace *ss) const

virtual ob::GoalPtr	constructGoal ()

virtual ob::ProjectionEvaluatorPtr	getProjectionEvaluator (const std::string &peval) const

void	postSolve ()

void	preSolve ()

void	registerTerminationCondition (const ob::PlannerTerminationCondition &ptc)

void	startSampling ()

void	stopSampling ()

void	unregisterTerminationCondition ()

virtual void	useConfig ()

Protected Attributes
robot_state::RobotState	complete_initial_robot_state_

std::vector< kinematic_constraints::KinematicConstraintSetPtr >	goal_constraints_

double	last_plan_time_
	the time spent computing the last plan More...

double	last_simplify_time_
	the time spent simplifying the last plan More...

unsigned int	max_goal_samples_

unsigned int	max_goal_sampling_attempts_
	maximum number of attempts to be made at sampling a goal states More...

unsigned int	max_planning_threads_
	when planning in parallel, this is the maximum number of threads to use at one time More...

double	max_solution_segment_length_

unsigned int	max_state_sampling_attempts_

unsigned int	minimum_waypoint_count_

ot::Benchmark	ompl_benchmark_
	the OMPL tool for benchmarking planners More...

ot::ParallelPlan	ompl_parallel_plan_
	tool used to compute multiple plans in parallel; this uses the problem definition maintained by ompl_simple_setup_ More...

og::SimpleSetupPtr	ompl_simple_setup_
	the OMPL planning context; this contains the problem definition and the planner used More...

kinematic_constraints::KinematicConstraintSetPtr	path_constraints_

moveit_msgs::Constraints	path_constraints_msg_

const ob::PlannerTerminationCondition *	ptc_

boost::mutex	ptc_lock_

bool	simplify_solutions_

std::vector< int >	space_signature_

ModelBasedPlanningContextSpecification	spec_

bool	use_state_validity_cache_

Protected Attributes inherited from planning_interface::PlanningContext
std::string	group_

std::string	name_

planning_scene::PlanningSceneConstPtr	planning_scene_

MotionPlanRequest	request_

Detailed Description

Definition at line 79 of file model_based_planning_context.h.

Constructor & Destructor Documentation

ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext	(	const std::string &	name,
		const ModelBasedPlanningContextSpecification &	spec
	)

Definition at line 63 of file model_based_planning_context.cpp.

virtual ompl_interface::ModelBasedPlanningContext::~ModelBasedPlanningContext ( )

inlinevirtual

Definition at line 84 of file model_based_planning_context.h.

Member Function Documentation

ompl::base::StateSamplerPtr ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler ( const ompl::base::StateSpace * ss ) const

protectedvirtual

Definition at line 157 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::benchmark	(	double	timeout,
		unsigned int	count,
		const std::string &	filename = `""`
	)

Definition at line 510 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::clear ( void )

virtual

Implements planning_interface::PlanningContext.

Definition at line 455 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::configure ( )

virtual

Definition at line 209 of file model_based_planning_context.cpp.

ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal ( )

protectedvirtual

Definition at line 422 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::convertPath	(	const og::PathGeometric &	pg,
		robot_trajectory::RobotTrajectory &	traj
	)		const

Definition at line 396 of file model_based_planning_context.cpp.

const robot_state::RobotState& ompl_interface::ModelBasedPlanningContext::getCompleteInitialRobotState ( ) const

inline

Definition at line 119 of file model_based_planning_context.h.

const constraint_samplers::ConstraintSamplerManagerPtr& ompl_interface::ModelBasedPlanningContext::getConstraintSamplerManager ( )

inline

Definition at line 225 of file model_based_planning_context.h.

const robot_model::JointModelGroup* ompl_interface::ModelBasedPlanningContext::getJointModelGroup ( ) const

inline

Definition at line 114 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::getLastPlanTime ( ) const

inline

Definition at line 287 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::getLastSimplifyTime ( ) const

inline

Definition at line 293 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumGoalSamples ( ) const

inline

Definition at line 179 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumGoalSamplingAttempts ( ) const

inline

Definition at line 167 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumPlanningThreads ( ) const

inline

Definition at line 191 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::getMaximumSolutionSegmentLength ( ) const

inline

Definition at line 203 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumStateSamplingAttempts ( ) const

inline

Definition at line 155 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMinimumWaypointCount ( ) const

inline

Definition at line 214 of file model_based_planning_context.h.

const ot::Benchmark& ompl_interface::ModelBasedPlanningContext::getOMPLBenchmark ( ) const

inline

Definition at line 139 of file model_based_planning_context.h.

ot::Benchmark& ompl_interface::ModelBasedPlanningContext::getOMPLBenchmark ( )

inline

Definition at line 144 of file model_based_planning_context.h.

const og::SimpleSetupPtr& ompl_interface::ModelBasedPlanningContext::getOMPLSimpleSetup ( ) const

inline

Definition at line 129 of file model_based_planning_context.h.

og::SimpleSetupPtr& ompl_interface::ModelBasedPlanningContext::getOMPLSimpleSetup ( )

inline

Definition at line 134 of file model_based_planning_context.h.

const ModelBasedStateSpacePtr& ompl_interface::ModelBasedPlanningContext::getOMPLStateSpace ( ) const

inline

Definition at line 124 of file model_based_planning_context.h.

const kinematic_constraints::KinematicConstraintSetPtr& ompl_interface::ModelBasedPlanningContext::getPathConstraints ( ) const

inline

Definition at line 149 of file model_based_planning_context.h.

ompl::base::ProjectionEvaluatorPtr ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator ( const std::string & peval ) const

protectedvirtual

Definition at line 102 of file model_based_planning_context.cpp.

const robot_model::RobotModelConstPtr& ompl_interface::ModelBasedPlanningContext::getRobotModel ( ) const

inline

Definition at line 109 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::getSolutionPath ( robot_trajectory::RobotTrajectory & traj ) const

Definition at line 407 of file model_based_planning_context.cpp.

const ModelBasedPlanningContextSpecification& ompl_interface::ModelBasedPlanningContext::getSpecification ( ) const

inline

Definition at line 94 of file model_based_planning_context.h.

const std::map<std::string, std::string>& ompl_interface::ModelBasedPlanningContext::getSpecificationConfig ( ) const

inline

Definition at line 99 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::interpolateSolution ( )

Definition at line 368 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::postSolve ( )

protected

Definition at line 559 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::preSolve ( )

protected

Definition at line 548 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::registerTerminationCondition ( const ob::PlannerTerminationCondition & ptc )

protected

Definition at line 726 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setCompleteInitialState ( const robot_state::RobotState & complete_initial_robot_state )

Definition at line 448 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setConstraintSamplerManager ( const constraint_samplers::ConstraintSamplerManagerPtr & csm )

inline

Definition at line 230 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setConstraintsApproximations ( const ConstraintsLibraryConstPtr & constraints_library )

inline

Definition at line 247 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::setGoalConstraints	(	const std::vector< moveit_msgs::Constraints > &	goal_constraints,
		const moveit_msgs::Constraints &	path_constraints,
		moveit_msgs::MoveItErrorCodes *	error
	)

Definition at line 477 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setMaximumGoalSamples ( unsigned int max_goal_samples )

inline

Definition at line 185 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumGoalSamplingAttempts ( unsigned int max_goal_sampling_attempts )

inline

Definition at line 173 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumPlanningThreads ( unsigned int max_planning_threads )

inline

Definition at line 197 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumSolutionSegmentLength ( double mssl )

inline

Definition at line 209 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumStateSamplingAttempts ( unsigned int max_state_sampling_attempts )

inline

Definition at line 161 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMinimumWaypointCount ( unsigned int mwc )

inline

Get the minimum number of waypoints along the solution path.

Definition at line 220 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::setPathConstraints	(	const moveit_msgs::Constraints &	path_constraints,
		moveit_msgs::MoveItErrorCodes *	error
	)

Definition at line 466 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setPlanningVolume ( const moveit_msgs::WorkspaceParameters & wparams )

Definition at line 345 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setProjectionEvaluator ( const std::string & peval )

Definition at line 89 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setSpecificationConfig ( const std::map< std::string, std::string > & config )

inline

Definition at line 104 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setVerboseStateValidityChecks ( bool flag )

Definition at line 416 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::simplifySolution ( double timeout )

Definition at line 362 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::simplifySolutions ( ) const

inline

Definition at line 262 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::simplifySolutions ( bool flag )

inline

Definition at line 267 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanResponse & res )

virtual

Implements planning_interface::PlanningContext.

Definition at line 570 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse & res )

virtual

Implements planning_interface::PlanningContext.

Definition at line 599 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::solve	(	double	timeout,
		unsigned int	count
	)

Definition at line 645 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::startSampling ( )

protected

Definition at line 528 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::stopSampling ( )

protected

Definition at line 538 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::terminate ( )

virtual

Implements planning_interface::PlanningContext.

Definition at line 738 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::unregisterTerminationCondition ( )

protected

Definition at line 732 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::useConfig ( )

protectedvirtual

Definition at line 233 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::useStateValidityCache ( ) const

inline

Definition at line 252 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::useStateValidityCache ( bool flag )

inline

Definition at line 257 of file model_based_planning_context.h.

Member Data Documentation

robot_state::RobotState ompl_interface::ModelBasedPlanningContext::complete_initial_robot_state_

protected

Definition at line 329 of file model_based_planning_context.h.

std::vector<kinematic_constraints::KinematicConstraintSetPtr> ompl_interface::ModelBasedPlanningContext::goal_constraints_

protected

Definition at line 344 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::last_plan_time_

protected

the time spent computing the last plan

Definition at line 350 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::last_simplify_time_

protected

the time spent simplifying the last plan

Definition at line 353 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_goal_samples_

protected

maximum number of valid states to store in the goal region for any planning request (when such sampling is possible)

Definition at line 357 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_goal_sampling_attempts_

protected

maximum number of attempts to be made at sampling a goal states

Definition at line 364 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_planning_threads_

protected

when planning in parallel, this is the maximum number of threads to use at one time

Definition at line 367 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::max_solution_segment_length_

protected

the maximum length that is allowed for segments that make up the motion plan; by default this is 1% from the extent of the space

Definition at line 371 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_state_sampling_attempts_

protected

maximum number of attempts to be made at sampling a state when attempting to find valid states that satisfy some set of constraints

Definition at line 361 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::minimum_waypoint_count_

protected

the minimum number of points to include on the solution path (interpolation is used to reach this number, if needed)

Definition at line 375 of file model_based_planning_context.h.

ot::Benchmark ompl_interface::ModelBasedPlanningContext::ompl_benchmark_

protected

the OMPL tool for benchmarking planners

Definition at line 335 of file model_based_planning_context.h.

ot::ParallelPlan ompl_interface::ModelBasedPlanningContext::ompl_parallel_plan_

protected

tool used to compute multiple plans in parallel; this uses the problem definition maintained by ompl_simple_setup_

Definition at line 338 of file model_based_planning_context.h.

og::SimpleSetupPtr ompl_interface::ModelBasedPlanningContext::ompl_simple_setup_

protected

the OMPL planning context; this contains the problem definition and the planner used

Definition at line 332 of file model_based_planning_context.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ModelBasedPlanningContext::path_constraints_

protected

Definition at line 342 of file model_based_planning_context.h.

moveit_msgs::Constraints ompl_interface::ModelBasedPlanningContext::path_constraints_msg_

protected

Definition at line 343 of file model_based_planning_context.h.

const ob::PlannerTerminationCondition* ompl_interface::ModelBasedPlanningContext::ptc_

protected

Definition at line 346 of file model_based_planning_context.h.

boost::mutex ompl_interface::ModelBasedPlanningContext::ptc_lock_

protected

Definition at line 347 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::simplify_solutions_

protected

Definition at line 379 of file model_based_planning_context.h.

std::vector<int> ompl_interface::ModelBasedPlanningContext::space_signature_

protected

Definition at line 340 of file model_based_planning_context.h.

ModelBasedPlanningContextSpecification ompl_interface::ModelBasedPlanningContext::spec_

protected

Definition at line 327 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::use_state_validity_cache_

protected

Definition at line 377 of file model_based_planning_context.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation