#include <ompl_interface.h>

Public Member Functions
constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager ()

const constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager () const

ConstraintsLibrary &	getConstraintsLibrary ()

const ConstraintsLibrary &	getConstraintsLibrary () const

ModelBasedPlanningContextPtr	getLastPlanningContext () const

const planning_interface::PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the configurations for the planners that are already loaded. More...

ModelBasedPlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req) const

ModelBasedPlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const

ModelBasedPlanningContextPtr	getPlanningContext (const std::string &config, const std::string &factory_type="") const

const PlanningContextManager &	getPlanningContextManager () const

PlanningContextManager &	getPlanningContextManager ()

bool	isUsingConstraintsApproximations () const

void	loadConstraintApproximations (const std::string &path)

bool	loadConstraintApproximations ()
	Look up param server 'constraint_approximations' and use its value as the path to load constraint approximations to. More...

	OMPLInterface (const robot_model::RobotModelConstPtr &kmodel, const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle. More...

	OMPLInterface (const robot_model::RobotModelConstPtr &kmodel, const planning_interface::PlannerConfigurationMap &pconfig, const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle. However, planner configurations are used as specified in pconfig instead of reading them from the ROS parameter server. More...

void	printStatus ()
	Print the status of this node. More...

void	saveConstraintApproximations (const std::string &path)

bool	saveConstraintApproximations ()
	Look up param server 'constraint_approximations' and use its value as the path to save constraint approximations to. More...

void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pconfig)
	Specify configurations for the planners. More...

bool	simplifySolutions () const

void	simplifySolutions (bool flag)

void	useConstraintsApproximations (bool flag)

virtual	~OMPLInterface ()

Protected Member Functions
void	configureContext (const ModelBasedPlanningContextPtr &context) const

void	loadConstraintSamplers ()
	Load the additional plugins for sampling constraints. More...

bool	loadPlannerConfiguration (const std::string &group_name, const std::string &planner_id, const std::map< std::string, std::string > &group_params, planning_interface::PlannerConfigurationSettings &planner_config)
	Load planner configurations for specified group into planner_config. More...

void	loadPlannerConfigurations ()
	Configure the planners. More...

ModelBasedPlanningContextPtr	prepareForSolve (const planning_interface::MotionPlanRequest &req, const planning_scene::PlanningSceneConstPtr &planning_scene, moveit_msgs::MoveItErrorCodes error_code, unsigned int attempts, double *timeout) const
	Configure the OMPL planning context for a new planning request. More...

Protected Attributes
constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_

ConstraintsLibraryPtr	constraints_library_

PlanningContextManager	context_manager_

robot_model::RobotModelConstPtr	kmodel_
	The ROS node handle. More...

ros::NodeHandle	nh_

bool	simplify_solutions_

bool	use_constraints_approximations_

Private Attributes
constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr	constraint_sampler_manager_loader_

Detailed Description

This class defines the interface to the motion planners in OMPL

Definition at line 56 of file ompl_interface.h.

Constructor & Destructor Documentation

ompl_interface::OMPLInterface::OMPLInterface	(	const robot_model::RobotModelConstPtr &	kmodel,
		const ros::NodeHandle &	nh = `ros::NodeHandle("~")`
	)

Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle.

Definition at line 46 of file ompl_interface.cpp.

ompl_interface::OMPLInterface::OMPLInterface	(	const robot_model::RobotModelConstPtr &	kmodel,
		const planning_interface::PlannerConfigurationMap &	pconfig,
		const ros::NodeHandle &	nh = `ros::NodeHandle("~")`
	)

Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle. However, planner configurations are used as specified in pconfig instead of reading them from the ROS parameter server.

Definition at line 61 of file ompl_interface.cpp.

ompl_interface::OMPLInterface::~OMPLInterface ( )

virtual

Definition at line 78 of file ompl_interface.cpp.

Member Function Documentation

void ompl_interface::OMPLInterface::configureContext ( const ModelBasedPlanningContextPtr & context ) const

protected

Definition at line 128 of file ompl_interface.cpp.

constraint_samplers::ConstraintSamplerManager& ompl_interface::OMPLInterface::getConstraintSamplerManager ( )

inline

Definition at line 118 of file ompl_interface.h.

const constraint_samplers::ConstraintSamplerManager& ompl_interface::OMPLInterface::getConstraintSamplerManager ( ) const

inline

Definition at line 123 of file ompl_interface.h.

ConstraintsLibrary& ompl_interface::OMPLInterface::getConstraintsLibrary ( )

inline

Definition at line 108 of file ompl_interface.h.

const ConstraintsLibrary& ompl_interface::OMPLInterface::getConstraintsLibrary ( ) const

inline

Definition at line 113 of file ompl_interface.h.

ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getLastPlanningContext ( ) const

inline

Definition at line 93 of file ompl_interface.h.

const planning_interface::PlannerConfigurationMap& ompl_interface::OMPLInterface::getPlannerConfigurations ( ) const

inline

Get the configurations for the planners that are already loaded.

Parameters

pconfig Configurations for the different planners

Definition at line 79 of file ompl_interface.h.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req
	)		const

Definition at line 101 of file ompl_interface.cpp.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const

Definition at line 109 of file ompl_interface.cpp.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext	(	const std::string &	config,
		const std::string &	factory_type = `""`
	)		const

Definition at line 120 of file ompl_interface.cpp.

const PlanningContextManager& ompl_interface::OMPLInterface::getPlanningContextManager ( ) const

inline

Definition at line 98 of file ompl_interface.h.

PlanningContextManager& ompl_interface::OMPLInterface::getPlanningContextManager ( )

inline

Definition at line 103 of file ompl_interface.h.

bool ompl_interface::OMPLInterface::isUsingConstraintsApproximations ( ) const

inline

Definition at line 133 of file ompl_interface.h.

void ompl_interface::OMPLInterface::loadConstraintApproximations ( const std::string & path )

Definition at line 137 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::loadConstraintApproximations ( )

Look up param server 'constraint_approximations' and use its value as the path to load constraint approximations to.

Definition at line 162 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::loadConstraintSamplers ( )

protected

Load the additional plugins for sampling constraints.

Definition at line 173 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::loadPlannerConfiguration	(	const std::string &	group_name,
		const std::string &	planner_id,
		const std::map< std::string, std::string > &	group_params,
		planning_interface::PlannerConfigurationSettings &	planner_config
	)

protected

Load planner configurations for specified group into planner_config.

Definition at line 179 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::loadPlannerConfigurations ( )

protected

Configure the planners.

Definition at line 220 of file ompl_interface.cpp.

ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::prepareForSolve	(	const planning_interface::MotionPlanRequest &	req,
		const planning_scene::PlanningSceneConstPtr &	planning_scene,
		moveit_msgs::MoveItErrorCodes *	error_code,
		unsigned int *	attempts,
		double *	timeout
	)		const

protected

Configure the OMPL planning context for a new planning request.

void ompl_interface::OMPLInterface::printStatus ( )

Print the status of this node.

Definition at line 326 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::saveConstraintApproximations ( const std::string & path )

Definition at line 145 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::saveConstraintApproximations ( )

Look up param server 'constraint_approximations' and use its value as the path to save constraint approximations to.

Definition at line 150 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::setPlannerConfigurations ( const planning_interface::PlannerConfigurationMap & pconfig )

Specify configurations for the planners.

Parameters

pconfig Configurations for the different planners

Definition at line 82 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::simplifySolutions ( ) const

inline

Definition at line 142 of file ompl_interface.h.

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

inline

Definition at line 147 of file ompl_interface.h.

void ompl_interface::OMPLInterface::useConstraintsApproximations ( bool flag )

inline

Definition at line 128 of file ompl_interface.h.

Member Data Documentation

constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::OMPLInterface::constraint_sampler_manager_

protected

Definition at line 188 of file ompl_interface.h.

constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr ompl_interface::OMPLInterface::constraint_sampler_manager_loader_

private

Definition at line 198 of file ompl_interface.h.

ConstraintsLibraryPtr ompl_interface::OMPLInterface::constraints_library_

protected

Definition at line 192 of file ompl_interface.h.

PlanningContextManager ompl_interface::OMPLInterface::context_manager_

protected

Definition at line 190 of file ompl_interface.h.

robot_model::RobotModelConstPtr ompl_interface::OMPLInterface::kmodel_

protected

The ROS node handle.

The kinematic model for which motion plans are computed

Definition at line 186 of file ompl_interface.h.

ros::NodeHandle ompl_interface::OMPLInterface::nh_

protected

Definition at line 183 of file ompl_interface.h.

bool ompl_interface::OMPLInterface::simplify_solutions_

protected

Definition at line 195 of file ompl_interface.h.

bool ompl_interface::OMPLInterface::use_constraints_approximations_

protected

Definition at line 193 of file ompl_interface.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation