#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="")

void	clear () override

virtual void	configure (const ros::NodeHandle &nh, bool use_constraints_approximations)
	Configure ompl_simple_setup_ and optionally the constraints_library_. More...

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

const moveit::core::RobotState &	getCompleteInitialRobotState () const

const constraint_samplers::ConstraintSamplerManagerPtr &	getConstraintSamplerManager ()

const ConstraintsLibraryPtr &	getConstraintsLibrary () const

ConstraintsLibraryPtr	getConstraintsLibraryNonConst ()

const moveit::core::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

ot::Benchmark &	getOMPLBenchmark ()

const ot::Benchmark &	getOMPLBenchmark () const

og::SimpleSetupPtr &	getOMPLSimpleSetup ()

const og::SimpleSetupPtr &	getOMPLSimpleSetup () const

const ModelBasedStateSpacePtr &	getOMPLStateSpace () const

const kinematic_constraints::KinematicConstraintSetPtr &	getPathConstraints () const

const moveit::core::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 ()

bool	loadConstraintApproximations (const ros::NodeHandle &nh)
	Look up param server 'constraint_approximations' and use its value as the path to load constraint approximations to. More...

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

bool	saveConstraintApproximations (const ros::NodeHandle &nh)
	Look up param server 'constraint_approximations' and use its value as the path to save constraint approximations to. More...

void	setCompleteInitialState (const moveit::core::RobotState &complete_initial_robot_state)

void	setConstraintSamplerManager (const constraint_samplers::ConstraintSamplerManagerPtr &csm)

void	setConstraintsApproximations (const ConstraintsLibraryPtr &constraints_library)

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

void	setHybridize (bool flag)

void	setInterpolation (bool flag)

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)

const moveit_msgs::MoveItErrorCodes	solve (double timeout, unsigned int count)

bool	solve (planning_interface::MotionPlanDetailedResponse &res) override

bool	solve (planning_interface::MotionPlanResponse &res) override

bool	terminate () override

	~ModelBasedPlanningContext () override

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::PlannerTerminationCondition	constructPlannerTerminationCondition (double timeout, const ompl::time::point &start)

int32_t	errorCode (const ompl::base::PlannerStatus &status)
	Convert OMPL PlannerStatus to moveit_msgs::msg::MoveItErrorCode. More...

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
moveit::core::RobotState	complete_initial_robot_state_

ConstraintsLibraryPtr	constraints_library_

std::vector< kinematic_constraints::KinematicConstraintSetPtr >	goal_constraints_

bool	hybridize_

bool	interpolate_

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_

bool	multi_query_planning_enabled_
	when false, clears planners before running solve() More...

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_

std::mutex	ptc_lock_

bool	simplify_solutions_

std::vector< int >	space_signature_

ModelBasedPlanningContextSpecification	spec_

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 105 of file model_based_planning_context.h.

Constructor & Destructor Documentation

◆ ModelBasedPlanningContext()

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

Definition at line 73 of file model_based_planning_context.cpp.

◆ ~ModelBasedPlanningContext()

ompl_interface::ModelBasedPlanningContext::~ModelBasedPlanningContext ( )

inlineoverride

Definition at line 110 of file model_based_planning_context.h.

Member Function Documentation

◆ allocPathConstrainedSampler()

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

protectedvirtual

Definition at line 200 of file model_based_planning_context.cpp.

◆ benchmark()

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

Definition at line 613 of file model_based_planning_context.cpp.

◆ clear()

void ompl_interface::ModelBasedPlanningContext::clear ( )

overridevirtual

Implements planning_interface::PlanningContext.

Definition at line 551 of file model_based_planning_context.cpp.

◆ configure()

void ompl_interface::ModelBasedPlanningContext::configure	(	const ros::NodeHandle &	nh,
		bool	use_constraints_approximations
	)

virtual

Configure ompl_simple_setup_ and optionally the constraints_library_.

ompl_simple_setup_ gets a start state, state sampler, and state validity checker.

Parameters

nh	ROS node handle used to load the constraint approximations.
use_constraints_approximations	Set to true if we want to load the constraint approximation.

Definition at line 100 of file model_based_planning_context.cpp.

◆ constructGoal()

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

protectedvirtual

Definition at line 461 of file model_based_planning_context.cpp.

◆ constructPlannerTerminationCondition()

ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContext::constructPlannerTerminationCondition	(	double	timeout,
		const ompl::time::point &	start
	)

protectedvirtual

Definition at line 488 of file model_based_planning_context.cpp.

◆ convertPath()

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

Definition at line 436 of file model_based_planning_context.cpp.

◆ errorCode()

int32_t ompl_interface::ModelBasedPlanningContext::errorCode ( const ompl::base::PlannerStatus & status )

protected

Convert OMPL PlannerStatus to moveit_msgs::msg::MoveItErrorCode.

Definition at line 813 of file model_based_planning_context.cpp.

◆ getCompleteInitialRobotState()

const moveit::core::RobotState& ompl_interface::ModelBasedPlanningContext::getCompleteInitialRobotState ( ) const

inline

Definition at line 145 of file model_based_planning_context.h.

◆ getConstraintSamplerManager()

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

inline

Definition at line 251 of file model_based_planning_context.h.

◆ getConstraintsLibrary()

const ConstraintsLibraryPtr& ompl_interface::ModelBasedPlanningContext::getConstraintsLibrary ( ) const

inline

Definition at line 283 of file model_based_planning_context.h.

◆ getConstraintsLibraryNonConst()

ConstraintsLibraryPtr ompl_interface::ModelBasedPlanningContext::getConstraintsLibraryNonConst ( )

inline

Definition at line 278 of file model_based_planning_context.h.

◆ getJointModelGroup()

const moveit::core::JointModelGroup* ompl_interface::ModelBasedPlanningContext::getJointModelGroup ( ) const

inline

Definition at line 140 of file model_based_planning_context.h.

◆ getLastPlanTime()

double ompl_interface::ModelBasedPlanningContext::getLastPlanTime ( ) const

inline

Definition at line 323 of file model_based_planning_context.h.

◆ getLastSimplifyTime()

double ompl_interface::ModelBasedPlanningContext::getLastSimplifyTime ( ) const

inline

Definition at line 329 of file model_based_planning_context.h.

◆ getMaximumGoalSamples()

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

inline

Definition at line 205 of file model_based_planning_context.h.

◆ getMaximumGoalSamplingAttempts()

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

inline

Definition at line 193 of file model_based_planning_context.h.

◆ getMaximumPlanningThreads()

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

inline

Definition at line 217 of file model_based_planning_context.h.

◆ getMaximumSolutionSegmentLength()

double ompl_interface::ModelBasedPlanningContext::getMaximumSolutionSegmentLength ( ) const

inline

Definition at line 229 of file model_based_planning_context.h.

◆ getMaximumStateSamplingAttempts()

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

inline

Definition at line 181 of file model_based_planning_context.h.

◆ getMinimumWaypointCount()

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

inline

Definition at line 240 of file model_based_planning_context.h.

◆ getOMPLBenchmark() [1/2]

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

inline

Definition at line 170 of file model_based_planning_context.h.

◆ getOMPLBenchmark() [2/2]

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

inline

Definition at line 165 of file model_based_planning_context.h.

◆ getOMPLSimpleSetup() [1/2]

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

inline

Definition at line 160 of file model_based_planning_context.h.

◆ getOMPLSimpleSetup() [2/2]

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

inline

Definition at line 155 of file model_based_planning_context.h.

◆ getOMPLStateSpace()

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

inline

Definition at line 150 of file model_based_planning_context.h.

◆ getPathConstraints()

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

inline

Definition at line 175 of file model_based_planning_context.h.

◆ getProjectionEvaluator()

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

protectedvirtual

Definition at line 147 of file model_based_planning_context.cpp.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr& ompl_interface::ModelBasedPlanningContext::getRobotModel ( ) const

inline

Definition at line 135 of file model_based_planning_context.h.

◆ getSolutionPath()

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

Definition at line 447 of file model_based_planning_context.cpp.

◆ getSpecification()

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

inline

Definition at line 120 of file model_based_planning_context.h.

◆ getSpecificationConfig()

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

inline

Definition at line 125 of file model_based_planning_context.h.

◆ interpolateSolution()

void ompl_interface::ModelBasedPlanningContext::interpolateSolution ( )

Definition at line 408 of file model_based_planning_context.cpp.

◆ loadConstraintApproximations()

bool ompl_interface::ModelBasedPlanningContext::loadConstraintApproximations ( const ros::NodeHandle & nh )

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

Definition at line 881 of file model_based_planning_context.cpp.

◆ postSolve()

void ompl_interface::ModelBasedPlanningContext::postSolve ( )

protected

Definition at line 662 of file model_based_planning_context.cpp.

◆ preSolve()

void ompl_interface::ModelBasedPlanningContext::preSolve ( )

protected

Definition at line 651 of file model_based_planning_context.cpp.

◆ registerTerminationCondition()

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

protected

Definition at line 801 of file model_based_planning_context.cpp.

◆ saveConstraintApproximations()

bool ompl_interface::ModelBasedPlanningContext::saveConstraintApproximations ( const ros::NodeHandle & nh )

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

Definition at line 869 of file model_based_planning_context.cpp.

◆ setCompleteInitialState()

void ompl_interface::ModelBasedPlanningContext::setCompleteInitialState ( const moveit::core::RobotState & complete_initial_robot_state )

Definition at line 544 of file model_based_planning_context.cpp.

◆ setConstraintSamplerManager()

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

inline

Definition at line 256 of file model_based_planning_context.h.

◆ setConstraintsApproximations()

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

inline

Definition at line 273 of file model_based_planning_context.h.

◆ setGoalConstraints()

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 584 of file model_based_planning_context.cpp.

◆ setHybridize()

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

inline

Definition at line 303 of file model_based_planning_context.h.

◆ setInterpolation()

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

inline

Definition at line 298 of file model_based_planning_context.h.

◆ setMaximumGoalSamples()

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

inline

Definition at line 211 of file model_based_planning_context.h.

◆ setMaximumGoalSamplingAttempts()

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

inline

Definition at line 199 of file model_based_planning_context.h.

◆ setMaximumPlanningThreads()

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

inline

Definition at line 223 of file model_based_planning_context.h.

◆ setMaximumSolutionSegmentLength()

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

inline

Definition at line 235 of file model_based_planning_context.h.

◆ setMaximumStateSamplingAttempts()

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

inline

Definition at line 187 of file model_based_planning_context.h.

◆ setMinimumWaypointCount()

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

inline

Get the minimum number of waypoints along the solution path.

Definition at line 246 of file model_based_planning_context.h.

◆ setPathConstraints()

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

Definition at line 573 of file model_based_planning_context.cpp.

◆ setPlanningVolume()

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

Definition at line 381 of file model_based_planning_context.cpp.

◆ setProjectionEvaluator()

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

Definition at line 134 of file model_based_planning_context.cpp.

◆ setSpecificationConfig()

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

inline

Definition at line 130 of file model_based_planning_context.h.

◆ setVerboseStateValidityChecks()

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

Definition at line 455 of file model_based_planning_context.cpp.

◆ simplifySolution()

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

Definition at line 398 of file model_based_planning_context.cpp.

◆ simplifySolutions() [1/2]

bool ompl_interface::ModelBasedPlanningContext::simplifySolutions ( ) const

inline

Definition at line 288 of file model_based_planning_context.h.

◆ simplifySolutions() [2/2]

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

inline

Definition at line 293 of file model_based_planning_context.h.

◆ solve() [1/3]

const moveit_msgs::MoveItErrorCodes ompl_interface::ModelBasedPlanningContext::solve	(	double	timeout,
		unsigned int	count
	)

Definition at line 749 of file model_based_planning_context.cpp.

◆ solve() [2/3]

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

overridevirtual

Implements planning_interface::PlanningContext.

Definition at line 701 of file model_based_planning_context.cpp.

◆ solve() [3/3]

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

overridevirtual

Implements planning_interface::PlanningContext.

Definition at line 670 of file model_based_planning_context.cpp.

◆ startSampling()

void ompl_interface::ModelBasedPlanningContext::startSampling ( )

protected

Definition at line 631 of file model_based_planning_context.cpp.

◆ stopSampling()

void ompl_interface::ModelBasedPlanningContext::stopSampling ( )

protected

Definition at line 641 of file model_based_planning_context.cpp.

◆ terminate()

bool ompl_interface::ModelBasedPlanningContext::terminate ( )

overridevirtual

Implements planning_interface::PlanningContext.

Definition at line 861 of file model_based_planning_context.cpp.

◆ unregisterTerminationCondition()

void ompl_interface::ModelBasedPlanningContext::unregisterTerminationCondition ( )

protected

Definition at line 807 of file model_based_planning_context.cpp.

◆ useConfig()

void ompl_interface::ModelBasedPlanningContext::useConfig ( )

protectedvirtual

Definition at line 249 of file model_based_planning_context.cpp.

Member Data Documentation

◆ complete_initial_robot_state_

moveit::core::RobotState ompl_interface::ModelBasedPlanningContext::complete_initial_robot_state_

protected

Definition at line 411 of file model_based_planning_context.h.

◆ constraints_library_

ConstraintsLibraryPtr ompl_interface::ModelBasedPlanningContext::constraints_library_

protected

Definition at line 462 of file model_based_planning_context.h.

◆ goal_constraints_

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

protected

Definition at line 426 of file model_based_planning_context.h.

◆ hybridize_

bool ompl_interface::ModelBasedPlanningContext::hybridize_

protected

Definition at line 470 of file model_based_planning_context.h.

◆ interpolate_

bool ompl_interface::ModelBasedPlanningContext::interpolate_

protected

Definition at line 467 of file model_based_planning_context.h.

◆ last_plan_time_

double ompl_interface::ModelBasedPlanningContext::last_plan_time_

protected

the time spent computing the last plan

Definition at line 432 of file model_based_planning_context.h.

◆ last_simplify_time_

double ompl_interface::ModelBasedPlanningContext::last_simplify_time_

protected

the time spent simplifying the last plan

Definition at line 435 of file model_based_planning_context.h.

◆ max_goal_samples_

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 439 of file model_based_planning_context.h.

◆ max_goal_sampling_attempts_

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 446 of file model_based_planning_context.h.

◆ max_planning_threads_

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 449 of file model_based_planning_context.h.

◆ max_solution_segment_length_

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 453 of file model_based_planning_context.h.

◆ max_state_sampling_attempts_

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 443 of file model_based_planning_context.h.

◆ minimum_waypoint_count_

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 457 of file model_based_planning_context.h.

◆ multi_query_planning_enabled_

bool ompl_interface::ModelBasedPlanningContext::multi_query_planning_enabled_

protected

when false, clears planners before running solve()

Definition at line 460 of file model_based_planning_context.h.

◆ ompl_benchmark_

ot::Benchmark ompl_interface::ModelBasedPlanningContext::ompl_benchmark_

protected

the OMPL tool for benchmarking planners

Definition at line 417 of file model_based_planning_context.h.

◆ ompl_parallel_plan_

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 420 of file model_based_planning_context.h.

◆ ompl_simple_setup_

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 414 of file model_based_planning_context.h.

◆ path_constraints_

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ModelBasedPlanningContext::path_constraints_

protected

Definition at line 424 of file model_based_planning_context.h.

◆ path_constraints_msg_

moveit_msgs::Constraints ompl_interface::ModelBasedPlanningContext::path_constraints_msg_

protected

Definition at line 425 of file model_based_planning_context.h.

◆ ptc_

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

protected

Definition at line 428 of file model_based_planning_context.h.

◆ ptc_lock_

std::mutex ompl_interface::ModelBasedPlanningContext::ptc_lock_

protected

Definition at line 429 of file model_based_planning_context.h.

◆ simplify_solutions_

bool ompl_interface::ModelBasedPlanningContext::simplify_solutions_

protected

Definition at line 464 of file model_based_planning_context.h.

◆ space_signature_

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

protected

Definition at line 422 of file model_based_planning_context.h.

◆ spec_

ModelBasedPlanningContextSpecification ompl_interface::ModelBasedPlanningContext::spec_

protected

Definition at line 409 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

◆ ModelBasedPlanningContext()

◆ ~ModelBasedPlanningContext()

Member Function Documentation

◆ allocPathConstrainedSampler()

◆ benchmark()

◆ clear()

◆ configure()

◆ constructGoal()

◆ constructPlannerTerminationCondition()

◆ convertPath()

◆ errorCode()

◆ getCompleteInitialRobotState()

◆ getConstraintSamplerManager()

◆ getConstraintsLibrary()

◆ getConstraintsLibraryNonConst()

◆ getJointModelGroup()

◆ getLastPlanTime()

◆ getLastSimplifyTime()

◆ getMaximumGoalSamples()

◆ getMaximumGoalSamplingAttempts()

◆ getMaximumPlanningThreads()

◆ getMaximumSolutionSegmentLength()

◆ getMaximumStateSamplingAttempts()

◆ getMinimumWaypointCount()

◆ getOMPLBenchmark() [1/2]

◆ getOMPLBenchmark() [2/2]

◆ getOMPLSimpleSetup() [1/2]

◆ getOMPLSimpleSetup() [2/2]

◆ getOMPLStateSpace()

◆ getPathConstraints()

◆ getProjectionEvaluator()

◆ getRobotModel()

◆ getSolutionPath()

◆ getSpecification()

◆ getSpecificationConfig()

◆ interpolateSolution()

◆ loadConstraintApproximations()

◆ postSolve()

◆ preSolve()

◆ registerTerminationCondition()

◆ saveConstraintApproximations()

◆ setCompleteInitialState()

◆ setConstraintSamplerManager()

◆ setConstraintsApproximations()

◆ setGoalConstraints()

◆ setHybridize()

◆ setInterpolation()

◆ setMaximumGoalSamples()

◆ setMaximumGoalSamplingAttempts()

◆ setMaximumPlanningThreads()

◆ setMaximumSolutionSegmentLength()

◆ setMaximumStateSamplingAttempts()

◆ setMinimumWaypointCount()

◆ setPathConstraints()

◆ setPlanningVolume()

◆ setProjectionEvaluator()

◆ setSpecificationConfig()

◆ setVerboseStateValidityChecks()

◆ simplifySolution()

◆ simplifySolutions() [1/2]

◆ simplifySolutions() [2/2]

◆ solve() [1/3]

◆ solve() [2/3]

◆ solve() [3/3]

◆ startSampling()

◆ stopSampling()

◆ terminate()

◆ unregisterTerminationCondition()

◆ useConfig()

Member Data Documentation

◆ complete_initial_robot_state_

◆ constraints_library_

◆ goal_constraints_

◆ hybridize_

◆ interpolate_