#include <ompl_interface.h>

Public Member Functions
constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager ()

const constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager () 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

PlanningContextManager &	getPlanningContextManager ()

const PlanningContextManager &	getPlanningContextManager () const

bool	isUsingConstraintsApproximations () const

	OMPLInterface (const moveit::core::RobotModelConstPtr &robot_model, 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...

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

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

PlanningContextManager	context_manager_

ros::NodeHandle	nh_

moveit::core::RobotModelConstPtr	robot_model_
	The ROS node handle. More...

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 85 of file ompl_interface.h.

Constructor & Destructor Documentation

◆ OMPLInterface() [1/2]

ompl_interface::OMPLInterface::OMPLInterface	(	const moveit::core::RobotModelConstPtr &	robot_model,
		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 49 of file ompl_interface.cpp.

◆ OMPLInterface() [2/2]

ompl_interface::OMPLInterface::OMPLInterface	(	const moveit::core::RobotModelConstPtr &	robot_model,
		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 63 of file ompl_interface.cpp.

◆ ~OMPLInterface()

ompl_interface::OMPLInterface::~OMPLInterface ( )

virtualdefault

Member Function Documentation

◆ configureContext()

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

protected

Definition at line 118 of file ompl_interface.cpp.

◆ getConstraintSamplerManager() [1/2]

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

inline

Definition at line 161 of file ompl_interface.h.

◆ getConstraintSamplerManager() [2/2]

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

inline

Definition at line 166 of file ompl_interface.h.

◆ getPlannerConfigurations()

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 140 of file ompl_interface.h.

◆ getPlanningContext() [1/2]

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

Definition at line 99 of file ompl_interface.cpp.

◆ getPlanningContext() [2/2]

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 107 of file ompl_interface.cpp.

◆ getPlanningContextManager() [1/2]

PlanningContextManager& ompl_interface::OMPLInterface::getPlanningContextManager ( )

inline

Definition at line 156 of file ompl_interface.h.

◆ getPlanningContextManager() [2/2]

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

inline

Definition at line 151 of file ompl_interface.h.

◆ isUsingConstraintsApproximations()

bool ompl_interface::OMPLInterface::isUsingConstraintsApproximations ( ) const

inline

Definition at line 176 of file ompl_interface.h.

◆ loadConstraintSamplers()

void ompl_interface::OMPLInterface::loadConstraintSamplers ( )

protected

Load the additional plugins for sampling constraints.

Definition at line 123 of file ompl_interface.cpp.

◆ loadPlannerConfiguration()

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 129 of file ompl_interface.cpp.

◆ loadPlannerConfigurations()

void ompl_interface::OMPLInterface::loadPlannerConfigurations ( )

protected

Configure the planners.

Definition at line 170 of file ompl_interface.cpp.

◆ prepareForSolve()

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.

◆ printStatus()

void ompl_interface::OMPLInterface::printStatus ( )

Print the status of this node.

Definition at line 285 of file ompl_interface.cpp.

◆ setPlannerConfigurations()

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 80 of file ompl_interface.cpp.

◆ simplifySolutions() [1/2]

bool ompl_interface::OMPLInterface::simplifySolutions ( ) const

inline

Definition at line 180 of file ompl_interface.h.

◆ simplifySolutions() [2/2]

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

inline

Definition at line 185 of file ompl_interface.h.

◆ useConstraintsApproximations()

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

inline

Definition at line 171 of file ompl_interface.h.

Member Data Documentation

◆ constraint_sampler_manager_

constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::OMPLInterface::constraint_sampler_manager_

protected

Definition at line 218 of file ompl_interface.h.

◆ constraint_sampler_manager_loader_

constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr ompl_interface::OMPLInterface::constraint_sampler_manager_loader_

private

Definition at line 227 of file ompl_interface.h.

◆ context_manager_

PlanningContextManager ompl_interface::OMPLInterface::context_manager_

protected

Definition at line 220 of file ompl_interface.h.

◆ nh_

ros::NodeHandle ompl_interface::OMPLInterface::nh_

protected

Definition at line 213 of file ompl_interface.h.

◆ robot_model_

moveit::core::RobotModelConstPtr ompl_interface::OMPLInterface::robot_model_

protected

The ROS node handle.

The kinematic model for which motion plans are computed

Definition at line 216 of file ompl_interface.h.

◆ simplify_solutions_

bool ompl_interface::OMPLInterface::simplify_solutions_

protected

Definition at line 224 of file ompl_interface.h.

◆ use_constraints_approximations_

bool ompl_interface::OMPLInterface::use_constraints_approximations_

protected

Definition at line 222 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

◆ OMPLInterface() [1/2]

◆ OMPLInterface() [2/2]

◆ ~OMPLInterface()

Member Function Documentation

◆ configureContext()

◆ getConstraintSamplerManager() [1/2]

◆ getConstraintSamplerManager() [2/2]

◆ getPlannerConfigurations()

◆ getPlanningContext() [1/2]

◆ getPlanningContext() [2/2]

◆ getPlanningContextManager() [1/2]

◆ getPlanningContextManager() [2/2]

◆ isUsingConstraintsApproximations()

◆ loadConstraintSamplers()

◆ loadPlannerConfiguration()

◆ loadPlannerConfigurations()

◆ prepareForSolve()

◆ printStatus()

◆ setPlannerConfigurations()

◆ simplifySolutions() [1/2]

◆ simplifySolutions() [2/2]

◆ useConstraintsApproximations()

Member Data Documentation

◆ constraint_sampler_manager_

◆ constraint_sampler_manager_loader_

◆ context_manager_

◆ nh_

◆ robot_model_

◆ simplify_solutions_

◆ use_constraints_approximations_