The PlannerManager implementation that loads STOMP into moveit. More...

#include <stomp_planner_manager.h>

Inheritance diagram for stomp_moveit::StompPlannerManager:

Public Member Functions
bool	canServiceRequest (const moveit_msgs::MotionPlanRequest &req) const override
	Checks if the request can be planned for. More...

std::string	getDescription () const override
	Description string getter. More...

void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
	Getter for a list of the available planners, usually one STOMP planner per planning group. More...

planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const override
	Provides a planning context that matches the desired plan requests specifications. More...

bool	initialize (const robot_model::RobotModelConstPtr &model, const std::string &ns) override
	Loads the ros parameters for each planning group and initializes the all the planners. More...

void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pcs) override
	Not applicable. More...

	StompPlannerManager ()
	Constructor.

Public Member Functions inherited from planning_interface::PlannerManager
const PlannerConfigurationMap &	getPlannerConfigurations () const

PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const

void	terminate () const

Protected Attributes
ros::NodeHandle	nh_

std::map< std::string, planning_interface::PlanningContextPtr >	planners_

moveit::core::RobotModelConstPtr	robot_model_

Protected Attributes inherited from planning_interface::PlannerManager
PlannerConfigurationMap	config_settings_

Detailed Description

The PlannerManager implementation that loads STOMP into moveit.

Examples:: All examples are located here STOMP MoveIt! examples

Definition at line 42 of file stomp_planner_manager.h.

Member Function Documentation

bool stomp_moveit::StompPlannerManager::canServiceRequest ( const moveit_msgs::MotionPlanRequest & req ) const

overridevirtual

Checks if the request can be planned for.

Parameters

req

Returns: True if succeeded, False otherwise

Implements planning_interface::PlannerManager.

Definition at line 84 of file stomp_planner_manager.cpp.

std::string stomp_moveit::StompPlannerManager::getDescription ( ) const

inlineoverridevirtual

Description string getter.

Returns: Description string

Reimplemented from planning_interface::PlannerManager.

Definition at line 71 of file stomp_planner_manager.h.

void stomp_moveit::StompPlannerManager::getPlanningAlgorithms ( std::vector< std::string > & algs ) const

overridevirtual

Getter for a list of the available planners, usually one STOMP planner per planning group.

Parameters

algs	List of available planners.

Reimplemented from planning_interface::PlannerManager.

Definition at line 96 of file stomp_planner_manager.cpp.

planning_interface::PlanningContextPtr stomp_moveit::StompPlannerManager::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const

overridevirtual

Provides a planning context that matches the desired plan requests specifications.

Parameters

planning_scene	A pointer to the planning scene
req	The motion plan request
error_code	Error code, will be set to moveit_msgs::MoveItErrorCodes::SUCCESS if it succeeded

Returns: A pointer to the planning context

Implements planning_interface::PlannerManager.

Definition at line 110 of file stomp_planner_manager.cpp.

bool stomp_moveit::StompPlannerManager::initialize	(	const robot_model::RobotModelConstPtr &	model,
		const std::string &	ns
	)

overridevirtual

Loads the ros parameters for each planning group and initializes the all the planners.

Parameters

model	The robot model
ns	The parameter namespace

Returns: True if succeeded, False otherwise

Reimplemented from planning_interface::PlannerManager.

Definition at line 45 of file stomp_planner_manager.cpp.

void stomp_moveit::StompPlannerManager::setPlannerConfigurations ( const planning_interface::PlannerConfigurationMap & pcs )

overridevirtual

Not applicable.

Parameters

pcs	this argument is ignored.

Reimplemented from planning_interface::PlannerManager.

Definition at line 105 of file stomp_planner_manager.cpp.

Member Data Documentation

std::map< std::string, planning_interface::PlanningContextPtr> stomp_moveit::StompPlannerManager::planners_

protected

The planners for each planning group

Definition at line 105 of file stomp_planner_manager.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation