#include <planning_context_manager.h>

Classes
struct	CachedContexts

class	LastPlanningContext

Public Member Functions
ModelBasedPlanningContextPtr	getLastPlanningContext () 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 planning_interface::PlannerConfigurationMap &	getPlannerConfigurations () const
	Return the previously set planner configurations. More...

ConfiguredPlannerSelector	getPlannerSelector () const

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

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

const std::map< std::string, ConfiguredPlannerAllocator > &	getRegisteredPlannerAllocators () const

const std::map< std::string, ModelBasedStateSpaceFactoryPtr > &	getRegisteredStateSpaceFactories () const

const robot_model::RobotModelConstPtr &	getRobotModel () const

	PlanningContextManager (const robot_model::RobotModelConstPtr &kmodel, const constraint_samplers::ConstraintSamplerManagerPtr &csm)

void	registerPlannerAllocator (const std::string &planner_id, const ConfiguredPlannerAllocator &pa)

void	registerStateSpaceFactory (const ModelBasedStateSpaceFactoryPtr &factory)

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...

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

	~PlanningContextManager ()

Protected Types
typedef boost::function< const ModelBasedStateSpaceFactoryPtr &(const std::string &)>	StateSpaceFactoryTypeSelector

Protected Member Functions
ModelBasedPlanningContextPtr	getPlanningContext (const planning_interface::PlannerConfigurationSettings &config, const StateSpaceFactoryTypeSelector &factory_selector, const moveit_msgs::MotionPlanRequest &req) const
	This is the function that constructs new planning contexts if no previous ones exist that are suitable. More...

const ModelBasedStateSpaceFactoryPtr &	getStateSpaceFactory1 (const std::string &group_name, const std::string &factory_type) const

const ModelBasedStateSpaceFactoryPtr &	getStateSpaceFactory2 (const std::string &group_name, const moveit_msgs::MotionPlanRequest &req) const

ConfiguredPlannerAllocator	plannerSelector (const std::string &planner) const

void	registerDefaultPlanners ()

void	registerDefaultStateSpaces ()

Protected Attributes
constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_

robot_model::RobotModelConstPtr	kmodel_
	The kinematic model for which motion plans are computed. More...

std::map< std::string, ConfiguredPlannerAllocator >	known_planners_

unsigned int	max_goal_samples_
	maximum number of states to sample in the goal region for any planning request (when such sampling is possible) More...

unsigned int	max_goal_sampling_attempts_
	maximum number of attempts to be made at sampling goals 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_

planning_interface::PlannerConfigurationMap	planner_configs_
	All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used. More...

std::map< std::string, ModelBasedStateSpaceFactoryPtr >	state_space_factories_

Private Member Functions
	MOVEIT_CLASS_FORWARD (LastPlanningContext)

	MOVEIT_CLASS_FORWARD (CachedContexts)

Private Attributes
CachedContextsPtr	cached_contexts_

LastPlanningContextPtr	last_planning_context_

Detailed Description

Definition at line 51 of file planning_context_manager.h.

Member Typedef Documentation

typedef boost::function<const ModelBasedStateSpaceFactoryPtr&(const std::string&)> ompl_interface::PlanningContextManager::StateSpaceFactoryTypeSelector

protected

Definition at line 176 of file planning_context_manager.h.

Constructor & Destructor Documentation

ompl_interface::PlanningContextManager::PlanningContextManager	(	const robot_model::RobotModelConstPtr &	kmodel,
		const constraint_samplers::ConstraintSamplerManagerPtr &	csm
	)

Definition at line 111 of file planning_context_manager.cpp.

ompl_interface::PlanningContextManager::~PlanningContextManager ( )

Definition at line 128 of file planning_context_manager.cpp.

Member Function Documentation

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getLastPlanningContext ( ) const

Definition at line 448 of file planning_context_manager.cpp.

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

inline

Definition at line 93 of file planning_context_manager.h.

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

inline

Definition at line 81 of file planning_context_manager.h.

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

inline

Definition at line 105 of file planning_context_manager.h.

double ompl_interface::PlanningContextManager::getMaximumSolutionSegmentLength ( ) const

inline

Definition at line 117 of file planning_context_manager.h.

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

inline

Definition at line 69 of file planning_context_manager.h.

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

inline

Definition at line 128 of file planning_context_manager.h.

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

inline

Return the previously set planner configurations.

Definition at line 63 of file planning_context_manager.h.

ompl_interface::ConfiguredPlannerSelector ompl_interface::PlanningContextManager::getPlannerSelector ( ) const

Definition at line 196 of file planning_context_manager.cpp.

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

Definition at line 207 of file planning_context_manager.cpp.

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

Definition at line 353 of file planning_context_manager.cpp.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext	(	const planning_interface::PlannerConfigurationSettings &	config,
		const StateSpaceFactoryTypeSelector &	factory_selector,
		const moveit_msgs::MotionPlanRequest &	req
	)		const

protected

This is the function that constructs new planning contexts if no previous ones exist that are suitable.

Definition at line 225 of file planning_context_manager.cpp.

const std::map<std::string, ConfiguredPlannerAllocator>& ompl_interface::PlanningContextManager::getRegisteredPlannerAllocators ( ) const

inline

Definition at line 163 of file planning_context_manager.h.

const std::map<std::string, ModelBasedStateSpaceFactoryPtr>& ompl_interface::PlanningContextManager::getRegisteredStateSpaceFactories ( ) const

inline

Definition at line 168 of file planning_context_manager.h.

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

inline

Definition at line 139 of file planning_context_manager.h.

const ompl_interface::ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory1	(	const std::string &	group_name,
		const std::string &	factory_type
	)		const

protected

Definition at line 305 of file planning_context_manager.cpp.

const ompl_interface::ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory2	(	const std::string &	group_name,
		const moveit_msgs::MotionPlanRequest &	req
	)		const

protected

Definition at line 320 of file planning_context_manager.cpp.

ompl_interface::PlanningContextManager::MOVEIT_CLASS_FORWARD ( LastPlanningContext )

private

ompl_interface::PlanningContextManager::MOVEIT_CLASS_FORWARD ( CachedContexts )

private

ompl_interface::ConfiguredPlannerAllocator ompl_interface::PlanningContextManager::plannerSelector ( const std::string & planner ) const

protected

Definition at line 150 of file planning_context_manager.cpp.

void ompl_interface::PlanningContextManager::registerDefaultPlanners ( )

protected

Definition at line 162 of file planning_context_manager.cpp.

void ompl_interface::PlanningContextManager::registerDefaultStateSpaces ( )

protected

Definition at line 190 of file planning_context_manager.cpp.

void ompl_interface::PlanningContextManager::registerPlannerAllocator	(	const std::string &	planner_id,
		const ConfiguredPlannerAllocator &	pa
	)

inline

Definition at line 153 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::registerStateSpaceFactory ( const ModelBasedStateSpaceFactoryPtr & factory )

inline

Definition at line 158 of file planning_context_manager.h.

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

inline

Definition at line 99 of file planning_context_manager.h.

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

inline

Definition at line 87 of file planning_context_manager.h.

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

inline

Definition at line 111 of file planning_context_manager.h.

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

inline

Definition at line 123 of file planning_context_manager.h.

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

inline

Definition at line 75 of file planning_context_manager.h.

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

inline

Get the minimum number of waypoints along the solution path.

Definition at line 134 of file planning_context_manager.h.

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

Specify configurations for the planners.

Parameters

pconfig Configurations for the different planners

Definition at line 201 of file planning_context_manager.cpp.

Member Data Documentation

CachedContextsPtr ompl_interface::PlanningContextManager::cached_contexts_

private

Definition at line 234 of file planning_context_manager.h.

constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::PlanningContextManager::constraint_sampler_manager_

protected

Definition at line 196 of file planning_context_manager.h.

robot_model::RobotModelConstPtr ompl_interface::PlanningContextManager::kmodel_

protected

The kinematic model for which motion plans are computed.

Definition at line 194 of file planning_context_manager.h.

std::map<std::string, ConfiguredPlannerAllocator> ompl_interface::PlanningContextManager::known_planners_

protected

Definition at line 198 of file planning_context_manager.h.

LastPlanningContextPtr ompl_interface::PlanningContextManager::last_planning_context_

private

Definition at line 231 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::max_goal_samples_

protected

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

Definition at line 209 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::max_goal_sampling_attempts_

protected

maximum number of attempts to be made at sampling goals

Definition at line 216 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::max_planning_threads_

protected

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

Definition at line 219 of file planning_context_manager.h.

double ompl_interface::PlanningContextManager::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 223 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::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 213 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::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 227 of file planning_context_manager.h.

planning_interface::PlannerConfigurationMap ompl_interface::PlanningContextManager::planner_configs_

protected

All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used.

Definition at line 206 of file planning_context_manager.h.

std::map<std::string, ModelBasedStateSpaceFactoryPtr> ompl_interface::PlanningContextManager::state_space_factories_

protected

Definition at line 199 of file planning_context_manager.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation