ompl_interface::OMPLPlannerManager Class Reference

Inheritance diagram for ompl_interface::OMPLPlannerManager:

Public Member Functions
bool	canServiceRequest (const moveit_msgs::MotionPlanRequest &req) const override
std::string	getDescription () const override
void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const override
bool	initialize (const moveit::core::RobotModelConstPtr &model, const std::string &ns) override
	OMPLPlannerManager ()
void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pconfig) override
Public Member Functions inherited from planning_interface::PlannerManager
const PlannerConfigurationMap &	getPlannerConfigurations () const
PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const
	PlannerManager ()
void	terminate () const
virtual	~PlannerManager ()

Private Member Functions
void	dynamicReconfigureCallback (OMPLDynamicReconfigureConfig &config, uint32_t)

Private Attributes
bool	display_random_valid_states_ { false }
std::unique_ptr< dynamic_reconfigure::Server< OMPLDynamicReconfigureConfig > >	dynamic_reconfigure_server_
ros::NodeHandle	nh_
std::unique_ptr< OMPLInterface >	ompl_interface_
std::shared_ptr< ompl::msg::OutputHandler >	output_handler_
std::string	planner_data_link_name_
ros::Publisher	pub_markers_
ros::Publisher	pub_valid_states_
std::unique_ptr< std::thread >	pub_valid_states_thread_
ros::Publisher	pub_valid_traj_

Additional Inherited Members
Protected Attributes inherited from planning_interface::PlannerManager
PlannerConfigurationMap	config_settings_

Detailed Description

Definition at line 101 of file ompl_planner_manager.cpp.

Constructor & Destructor Documentation

OMPLPlannerManager()

ompl_interface::OMPLPlannerManager::OMPLPlannerManager ( )

inline

Definition at line 104 of file ompl_planner_manager.cpp.

Member Function Documentation

canServiceRequest()

bool ompl_interface::OMPLPlannerManager::canServiceRequest ( const moveit_msgs::MotionPlanRequest &  req ) const

inlineoverridevirtual

Implements planning_interface::PlannerManager.

Definition at line 153 of file ompl_planner_manager.cpp.

dynamicReconfigureCallback()

void ompl_interface::OMPLPlannerManager::dynamicReconfigureCallback ( OMPLDynamicReconfigureConfig &  config, uint32_t    )

inlineprivate

Definition at line 296 of file ompl_planner_manager.cpp.

getDescription()

std::string ompl_interface::OMPLPlannerManager::getDescription ( ) const

inlineoverridevirtual

Reimplemented from planning_interface::PlannerManager.

Definition at line 158 of file ompl_planner_manager.cpp.

getPlanningAlgorithms()

void ompl_interface::OMPLPlannerManager::getPlanningAlgorithms ( std::vector< std::string > &  algs ) const

inlineoverridevirtual

Reimplemented from planning_interface::PlannerManager.

Definition at line 163 of file ompl_planner_manager.cpp.

getPlanningContext()

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

inlineoverridevirtual

Implements planning_interface::PlannerManager.

Definition at line 180 of file ompl_planner_manager.cpp.

initialize()

bool ompl_interface::OMPLPlannerManager::initialize ( const moveit::core::RobotModelConstPtr &  model, const std::string &  ns  )

inlineoverridevirtual

Reimplemented from planning_interface::PlannerManager.

Definition at line 139 of file ompl_planner_manager.cpp.

setPlannerConfigurations()

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

inlineoverridevirtual

Reimplemented from planning_interface::PlannerManager.

Definition at line 172 of file ompl_planner_manager.cpp.

Member Data Documentation

display_random_valid_states_

bool ompl_interface::OMPLPlannerManager::display_random_valid_states_ { false }

private

Definition at line 338 of file ompl_planner_manager.cpp.

dynamic_reconfigure_server_

std::unique_ptr<dynamic_reconfigure::Server<OMPLDynamicReconfigureConfig> > ompl_interface::OMPLPlannerManager::dynamic_reconfigure_server_

private

Definition at line 335 of file ompl_planner_manager.cpp.

nh_

ros::NodeHandle ompl_interface::OMPLPlannerManager::nh_

private

Definition at line 334 of file ompl_planner_manager.cpp.

ompl_interface_

std::unique_ptr<OMPLInterface> ompl_interface::OMPLPlannerManager::ompl_interface_

private

Definition at line 336 of file ompl_planner_manager.cpp.

output_handler_

std::shared_ptr<ompl::msg::OutputHandler> ompl_interface::OMPLPlannerManager::output_handler_

private

Definition at line 343 of file ompl_planner_manager.cpp.

planner_data_link_name_

std::string ompl_interface::OMPLPlannerManager::planner_data_link_name_

private

Definition at line 342 of file ompl_planner_manager.cpp.

pub_markers_

ros::Publisher ompl_interface::OMPLPlannerManager::pub_markers_

private

Definition at line 339 of file ompl_planner_manager.cpp.

pub_valid_states_

ros::Publisher ompl_interface::OMPLPlannerManager::pub_valid_states_

private

Definition at line 340 of file ompl_planner_manager.cpp.

pub_valid_states_thread_

std::unique_ptr<std::thread> ompl_interface::OMPLPlannerManager::pub_valid_states_thread_

private

Definition at line 337 of file ompl_planner_manager.cpp.

pub_valid_traj_

ros::Publisher ompl_interface::OMPLPlannerManager::pub_valid_traj_

private

Definition at line 341 of file ompl_planner_manager.cpp.

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

• ompl_planner_manager.cpp