Classes | Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
moveit_cpp::PlanningComponent Class Reference

#include <planning_component.h>

Classes

struct  MultiPipelinePlanRequestParameters
 Planner parameters provided with the MotionPlanRequest. More...
 
struct  PlanRequestParameters
 Planner parameters provided with the MotionPlanRequest. More...
 
class  PlanSolutions
 

Public Types

using MoveItErrorCode = moveit::core::MoveItErrorCode
 
typedef std::function< planning_interface::MotionPlanResponse(std::vector< planning_interface::MotionPlanResponse > const &solutions)> SolutionCallbackFunction
 A solution callback function type for the parallel planning API of planning component. More...
 
typedef std::function< bool(PlanSolutions const &solutions, MultiPipelinePlanRequestParameters const &plan_request_parameters)> StoppingCriterionFunction
 A stopping criterion callback function for the parallel planning API of planning component. More...
 

Public Member Functions

bool execute (bool blocking=true)
 Execute the latest computed solution trajectory computed by plan(). By default this function terminates after the execution is complete. The execution can be run in background by setting blocking to false. More...
 
planning_interface::MotionPlanResponse const & getLastMotionPlanResponse ()
 Return the last plan solution. More...
 
const std::vector< std::stringgetNamedTargetStates ()
 Get the names of the named robot states available as targets. More...
 
std::map< std::string, double > getNamedTargetStateValues (const std::string &name)
 Get the joint values for targets specified by name. More...
 
const std::stringgetPlanningGroupName () const
 Get the name of the planning group. More...
 
moveit::core::RobotStatePtr getStartState ()
 Get the considered start state if defined, otherwise get the current state. More...
 
PlanningComponentoperator= (const PlanningComponent &)=delete
 
PlanningComponentoperator= (PlanningComponent &&other)=delete
 
planning_interface::MotionPlanResponse plan ()
 Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using default parameters. More...
 
planning_interface::MotionPlanResponse plan (const MultiPipelinePlanRequestParameters &parameters, const SolutionCallbackFunction &solution_selection_callback=&getShortestSolution, const StoppingCriterionFunction &stopping_criterion_callback=StoppingCriterionFunction())
 Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters. More...
 
planning_interface::MotionPlanResponse plan (const PlanRequestParameters &parameters, const bool store_solution=true)
 Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters. More...
 
 PlanningComponent (const PlanningComponent &)=delete
 This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required. More...
 
 PlanningComponent (const std::string &group_name, const MoveItCppPtr &moveit_cpp)
 
 PlanningComponent (const std::string &group_name, const ros::NodeHandle &nh)
 Constructor. More...
 
 PlanningComponent (PlanningComponent &&other)=default
 
bool setGoal (const geometry_msgs::PoseStamped &goal_pose, const std::string &link_name)
 Set the goal constraints generated from target pose and robot link. More...
 
bool setGoal (const moveit::core::RobotState &goal_state)
 Set the goal constraints generated from a target state. More...
 
bool setGoal (const std::string &named_target)
 Set the goal constraints generated from a named target state. More...
 
bool setGoal (const std::vector< moveit_msgs::Constraints > &goal_constraints)
 Set the goal constraints used for planning. More...
 
bool setPathConstraints (const moveit_msgs::Constraints &path_constraints)
 Set the path constraints used for planning. More...
 
bool setStartState (const moveit::core::RobotState &start_state)
 Set the robot state that should be considered as start state for planning. More...
 
bool setStartState (const std::string &named_state)
 Set the named robot state that should be considered as start state for planning. More...
 
void setStartStateToCurrentState ()
 Set the start state for planning to be the current state of the robot. More...
 
bool setTrajectoryConstraints (const moveit_msgs::TrajectoryConstraints &trajectory_constraints)
 Set the trajectory constraints generated from a moveit msg Constraints. More...
 
void setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
 Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world. More...
 
void unsetWorkspace ()
 Remove the workspace bounding box from planning. More...
 
 ~PlanningComponent ()
 Destructor. More...
 

Private Member Functions

void clearContents ()
 Reset all member variables. More...
 

Private Attributes

moveit::core::RobotStatePtr considered_start_state_
 
std::vector< moveit_msgs::Constraints > current_goal_constraints_
 
moveit_msgs::Constraints current_path_constraints_
 
moveit_msgs::TrajectoryConstraints current_trajectory_constraints_
 
const std::string group_name_
 
const moveit::core::JointModelGroupjoint_model_group_
 
planning_interface::MotionPlanResponse last_plan_solution_
 
MoveItCppPtr moveit_cpp_
 
ros::NodeHandle nh_
 
PlanRequestParameters plan_request_parameters_
 
moveit_msgs::WorkspaceParameters workspace_parameters_
 
bool workspace_parameters_set_ = false
 

Detailed Description

Definition at line 87 of file planning_component.h.

Member Typedef Documentation

◆ MoveItErrorCode

Definition at line 90 of file planning_component.h.

◆ SolutionCallbackFunction

A solution callback function type for the parallel planning API of planning component.

Definition at line 171 of file planning_component.h.

◆ StoppingCriterionFunction

typedef std::function<bool(PlanSolutions const& solutions, MultiPipelinePlanRequestParameters const& plan_request_parameters)> moveit_cpp::PlanningComponent::StoppingCriterionFunction

A stopping criterion callback function for the parallel planning API of planning component.

Definition at line 175 of file planning_component.h.

Constructor & Destructor Documentation

◆ PlanningComponent() [1/4]

moveit_cpp::PlanningComponent::PlanningComponent ( const std::string group_name,
const ros::NodeHandle nh 
)

Constructor.

Definition at line 103 of file planning_component.cpp.

◆ PlanningComponent() [2/4]

moveit_cpp::PlanningComponent::PlanningComponent ( const std::string group_name,
const MoveItCppPtr &  moveit_cpp 
)

Definition at line 82 of file planning_component.cpp.

◆ PlanningComponent() [3/4]

moveit_cpp::PlanningComponent::PlanningComponent ( const PlanningComponent )
delete

This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required.

◆ PlanningComponent() [4/4]

moveit_cpp::PlanningComponent::PlanningComponent ( PlanningComponent &&  other)
default

◆ ~PlanningComponent()

moveit_cpp::PlanningComponent::~PlanningComponent ( )

Destructor.

Definition at line 108 of file planning_component.cpp.

Member Function Documentation

◆ clearContents()

void moveit_cpp::PlanningComponent::clearContents ( )
private

Reset all member variables.

Definition at line 484 of file planning_component.cpp.

◆ execute()

bool moveit_cpp::PlanningComponent::execute ( bool  blocking = true)

Execute the latest computed solution trajectory computed by plan(). By default this function terminates after the execution is complete. The execution can be run in background by setting blocking to false.

Definition at line 427 of file planning_component.cpp.

◆ getLastMotionPlanResponse()

planning_interface::MotionPlanResponse const & moveit_cpp::PlanningComponent::getLastMotionPlanResponse ( )

Return the last plan solution.

Definition at line 446 of file planning_component.cpp.

◆ getNamedTargetStates()

const std::vector< std::string > moveit_cpp::PlanningComponent::getNamedTargetStates ( )

Get the names of the named robot states available as targets.

Definition at line 114 of file planning_component.cpp.

◆ getNamedTargetStateValues()

std::map< std::string, double > moveit_cpp::PlanningComponent::getNamedTargetStateValues ( const std::string name)

Get the joint values for targets specified by name.

Definition at line 370 of file planning_component.cpp.

◆ getPlanningGroupName()

const std::string & moveit_cpp::PlanningComponent::getPlanningGroupName ( ) const

Get the name of the planning group.

Definition at line 129 of file planning_component.cpp.

◆ getStartState()

moveit::core::RobotStatePtr moveit_cpp::PlanningComponent::getStartState ( )

Get the considered start state if defined, otherwise get the current state.

Definition at line 340 of file planning_component.cpp.

◆ operator=() [1/2]

PlanningComponent& moveit_cpp::PlanningComponent::operator= ( const PlanningComponent )
delete

◆ operator=() [2/2]

PlanningComponent& moveit_cpp::PlanningComponent::operator= ( PlanningComponent &&  other)
delete

◆ plan() [1/3]

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::plan ( )

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using default parameters.

Definition at line 329 of file planning_component.cpp.

◆ plan() [2/3]

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::plan ( const MultiPipelinePlanRequestParameters parameters,
const SolutionCallbackFunction solution_selection_callback = &getShortestSolution,
const StoppingCriterionFunction stopping_criterion_callback = StoppingCriterionFunction() 
)

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters.

Definition at line 260 of file planning_component.cpp.

◆ plan() [3/3]

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::plan ( const PlanRequestParameters parameters,
const bool  store_solution = true 
)

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters.

Definition at line 146 of file planning_component.cpp.

◆ setGoal() [1/4]

bool moveit_cpp::PlanningComponent::setGoal ( const geometry_msgs::PoseStamped &  goal_pose,
const std::string link_name 
)

Set the goal constraints generated from target pose and robot link.

Definition at line 408 of file planning_component.cpp.

◆ setGoal() [2/4]

bool moveit_cpp::PlanningComponent::setGoal ( const moveit::core::RobotState goal_state)

Set the goal constraints generated from a target state.

Definition at line 402 of file planning_component.cpp.

◆ setGoal() [3/4]

bool moveit_cpp::PlanningComponent::setGoal ( const std::string named_target)

Set the goal constraints generated from a named target state.

Definition at line 414 of file planning_component.cpp.

◆ setGoal() [4/4]

bool moveit_cpp::PlanningComponent::setGoal ( const std::vector< moveit_msgs::Constraints > &  goal_constraints)

Set the goal constraints used for planning.

Definition at line 396 of file planning_component.cpp.

◆ setPathConstraints()

bool moveit_cpp::PlanningComponent::setPathConstraints ( const moveit_msgs::Constraints &  path_constraints)

Set the path constraints used for planning.

Definition at line 134 of file planning_component.cpp.

◆ setStartState() [1/2]

bool moveit_cpp::PlanningComponent::setStartState ( const moveit::core::RobotState start_state)

Set the robot state that should be considered as start state for planning.

Definition at line 334 of file planning_component.cpp.

◆ setStartState() [2/2]

bool moveit_cpp::PlanningComponent::setStartState ( const std::string named_state)

Set the named robot state that should be considered as start state for planning.

Definition at line 352 of file planning_component.cpp.

◆ setStartStateToCurrentState()

void moveit_cpp::PlanningComponent::setStartStateToCurrentState ( )

Set the start state for planning to be the current state of the robot.

Definition at line 365 of file planning_component.cpp.

◆ setTrajectoryConstraints()

bool moveit_cpp::PlanningComponent::setTrajectoryConstraints ( const moveit_msgs::TrajectoryConstraints &  trajectory_constraints)

Set the trajectory constraints generated from a moveit msg Constraints.

Definition at line 140 of file planning_component.cpp.

◆ setWorkspace()

void moveit_cpp::PlanningComponent::setWorkspace ( double  minx,
double  miny,
double  minz,
double  maxx,
double  maxy,
double  maxz 
)

Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world.

Definition at line 378 of file planning_component.cpp.

◆ unsetWorkspace()

void moveit_cpp::PlanningComponent::unsetWorkspace ( )

Remove the workspace bounding box from planning.

Definition at line 391 of file planning_component.cpp.

Member Data Documentation

◆ considered_start_state_

moveit::core::RobotStatePtr moveit_cpp::PlanningComponent::considered_start_state_
private

Definition at line 270 of file planning_component.h.

◆ current_goal_constraints_

std::vector<moveit_msgs::Constraints> moveit_cpp::PlanningComponent::current_goal_constraints_
private

Definition at line 271 of file planning_component.h.

◆ current_path_constraints_

moveit_msgs::Constraints moveit_cpp::PlanningComponent::current_path_constraints_
private

Definition at line 273 of file planning_component.h.

◆ current_trajectory_constraints_

moveit_msgs::TrajectoryConstraints moveit_cpp::PlanningComponent::current_trajectory_constraints_
private

Definition at line 272 of file planning_component.h.

◆ group_name_

const std::string moveit_cpp::PlanningComponent::group_name_
private

Definition at line 264 of file planning_component.h.

◆ joint_model_group_

const moveit::core::JointModelGroup* moveit_cpp::PlanningComponent::joint_model_group_
private

Definition at line 266 of file planning_component.h.

◆ last_plan_solution_

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::last_plan_solution_
private

Definition at line 277 of file planning_component.h.

◆ moveit_cpp_

MoveItCppPtr moveit_cpp::PlanningComponent::moveit_cpp_
private

Definition at line 263 of file planning_component.h.

◆ nh_

ros::NodeHandle moveit_cpp::PlanningComponent::nh_
private

Definition at line 262 of file planning_component.h.

◆ plan_request_parameters_

PlanRequestParameters moveit_cpp::PlanningComponent::plan_request_parameters_
private

Definition at line 274 of file planning_component.h.

◆ workspace_parameters_

moveit_msgs::WorkspaceParameters moveit_cpp::PlanningComponent::workspace_parameters_
private

Definition at line 275 of file planning_component.h.

◆ workspace_parameters_set_

bool moveit_cpp::PlanningComponent::workspace_parameters_set_ = false
private

Definition at line 276 of file planning_component.h.


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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Thu Nov 24 2022 03:32:51