Classes | Typedefs | Functions | Variables
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)
 
 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  )

◆ 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.



ompl
Author(s): Ioan Sucan
autogenerated on Sun Mar 3 2024 03:24:34