ompl_interface Namespace Reference

The MoveIt interface to OMPL. More...

Classes
class	ConstrainedGoalSampler
class	ConstrainedSampler
class	ConstraintApproximation
struct	ConstraintApproximationConstructionOptions
struct	ConstraintApproximationConstructionResults
class	ConstraintApproximationStateSampler
class	ConstraintsLibrary
class	GoalSampleableRegionMux
class	JointModelStateSpace
class	JointModelStateSpaceFactory
class	ModelBasedPlanningContext
struct	ModelBasedPlanningContextSpecification
class	ModelBasedStateSpace
class	ModelBasedStateSpaceFactory
struct	ModelBasedStateSpaceSpecification
class	MultiQueryPlannerAllocator
class	OMPLInterface
class	OMPLPlannerManager
class	PlanningContextManager
class	PoseModelStateSpace
class	PoseModelStateSpaceFactory
class	ProjectionEvaluatorJointValue
class	ProjectionEvaluatorLinkPose
class	StateValidityChecker
	An interface for a OMPL state validity checker. More...
class	TSStateStorage

Typedefs
typedef std::function< ob::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name, const ModelBasedPlanningContextSpecification &spec)>	ConfiguredPlannerAllocator
typedef std::function< ConfiguredPlannerAllocator(const std::string &planner_type)>	ConfiguredPlannerSelector
typedef std::pair< std::vector< std::size_t >, std::map< std::size_t, std::pair< std::size_t, std::size_t > > >	ConstrainedStateMetadata
typedef ompl::base::StateStorageWithMetadata< std::vector< std::size_t > >	ConstraintApproximationStateStorage
typedef std::function< bool(const ompl::base::State *, const ompl::base::State *)>	ConstraintStateStorageOrderFn
typedef std::function< double(const ompl::base::State *state1, const ompl::base::State *state2)>	DistanceFunction
typedef std::function< bool(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state)>	InterpolationFunction

Functions
ompl::base::StateSamplerPtr	allocConstraintApproximationStateSampler (const ob::StateSpace *space, const std::vector< int > &expected_signature, const ConstraintApproximationStateStorage *state_storage, std::size_t milestones)
bool	interpolateUsingStoredStates (const ConstraintApproximationStateStorage *state_storage, const ob::State *from, const ob::State *to, const double t, ob::State *state)
	MOVEIT_CLASS_FORWARD (ConstraintApproximation)
	MOVEIT_CLASS_FORWARD (ConstraintsLibrary)
	MOVEIT_CLASS_FORWARD (ModelBasedPlanningContext)
	MOVEIT_CLASS_FORWARD (ModelBasedStateSpaceFactory)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRM > (const ob::PlannerData &data)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRMstar > (const ob::PlannerData &data)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRM > (const ob::PlannerData &data)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRMstar > (const ob::PlannerData &data)
	OMPL_CLASS_FORWARD (ModelBasedStateSpace)

Variables
constexpr char	LOGNAME [] = "constrained_goal_sampler"

Detailed Description

The MoveIt interface to OMPL.

Typedef Documentation

ConfiguredPlannerAllocator

typedef std::function<ob::PlannerPtr(const ompl::base::SpaceInformationPtr& si, const std::string& name, const ModelBasedPlanningContextSpecification& spec)> ompl_interface::ConfiguredPlannerAllocator

Definition at line 89 of file model_based_planning_context.h.

ConfiguredPlannerSelector

typedef std::function<ConfiguredPlannerAllocator(const std::string& planner_type)> ompl_interface::ConfiguredPlannerSelector

Definition at line 93 of file model_based_planning_context.h.

ConstrainedStateMetadata

typedef std::pair<std::vector<std::size_t>, std::map<std::size_t, std::pair<std::size_t, std::size_t> > > ompl_interface::ConstrainedStateMetadata

Definition at line 80 of file constraints_library.h.

ConstraintApproximationStateStorage

typedef ompl::base::StateStorageWithMetadata< ConstrainedStateMetadata > ompl_interface::ConstraintApproximationStateStorage

Definition at line 79 of file constraint_approximations.h.

ConstraintStateStorageOrderFn

typedef std::function<bool(const ompl::base::State*, const ompl::base::State*)> ompl_interface::ConstraintStateStorageOrderFn

Definition at line 80 of file constraint_approximations.h.

DistanceFunction

typedef std::function<double(const ompl::base::State* state1, const ompl::base::State* state2)> ompl_interface::DistanceFunction

Definition at line 82 of file model_based_state_space.h.

InterpolationFunction

typedef std::function<bool(const ompl::base::State* from, const ompl::base::State* to, const double t, ompl::base::State* state)> ompl_interface::InterpolationFunction

Definition at line 81 of file model_based_state_space.h.

Function Documentation

allocConstraintApproximationStateSampler()

ompl::base::StateSamplerPtr ompl_interface::allocConstraintApproximationStateSampler	(	const ob::StateSpace *	space,
		const std::vector< int > &	expected_signature,
		const ConstraintApproximationStateStorage *	state_storage,
		std::size_t	milestones
	)

Definition at line 227 of file constraints_library.cpp.

interpolateUsingStoredStates()

bool ompl_interface::interpolateUsingStoredStates	(	const ConstraintApproximationStateStorage *	state_storage,
		const ob::State *	from,
		const ob::State *	to,
		const double	t,
		ob::State *	state
	)

Definition at line 181 of file constraints_library.cpp.

MOVEIT_CLASS_FORWARD() [1/4]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ConstraintApproximation

)

MOVEIT_CLASS_FORWARD() [2/4]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ConstraintsLibrary

)

MOVEIT_CLASS_FORWARD() [3/4]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ModelBasedPlanningContext

)

MOVEIT_CLASS_FORWARD() [4/4]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ModelBasedStateSpaceFactory

)

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRM >()

template<>

ompl::base::Planner* ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRM > ( const ob::PlannerData &  data )

inline

Definition at line 217 of file planning_context_manager.cpp.

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRMstar >()

template<>

ompl::base::Planner* ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRMstar > ( const ob::PlannerData &  data )

inline

Definition at line 223 of file planning_context_manager.cpp.

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRM >()

template<>

ompl::base::Planner* ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRM > ( const ob::PlannerData &  data )

inline

Definition at line 205 of file planning_context_manager.cpp.

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRMstar >()

template<>

ompl::base::Planner* ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRMstar > ( const ob::PlannerData &  data )

inline

Definition at line 211 of file planning_context_manager.cpp.

OMPL_CLASS_FORWARD()

ompl_interface::OMPL_CLASS_FORWARD

(

ModelBasedStateSpace

)

Variable Documentation

LOGNAME

constexpr char ompl_interface::LOGNAME = "constrained_goal_sampler"

constexpr

Definition at line 78 of file constrained_goal_sampler.cpp.