planning_pipeline::PlanningPipeline Class Reference

This class facilitates loading planning plugins and planning request adapted plugins. and allows calling planning_interface::PlanningContext::solve() from a loaded planning plugin and the planning_request_adapter::PlanningRequestAdapter plugins, in the specified order. More...

#include <planning_pipeline.h>

Public Member Functions
void	checkSolutionPaths (bool flag)
	Pass a flag telling the pipeline whether or not to re-check the solution paths reported by the planner. This is true by default. More...
void	displayComputedMotionPlans (bool flag)
	Pass a flag telling the pipeline whether or not to publish the computed motion plans on DISPLAY_PATH_TOPIC. Default is true. More...
bool	generatePlan (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
	Call the motion planner plugin and the sequence of planning request adapters (if any). More...
bool	generatePlan (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &adapter_added_state_index) const
	Call the motion planner plugin and the sequence of planning request adapters (if any). More...
const std::vector< std::string > &	getAdapterPluginNames () const
	Get the names of the planning request adapter plugins used. More...
bool	getCheckSolutionPaths () const
	Get the flag set by checkSolutionPaths() More...
bool	getDisplayComputedMotionPlans () const
	Get the flag set by displayComputedMotionPlans() More...
const planning_interface::PlannerManagerPtr &	getPlannerManager ()
	Get the planner manager for the loaded planning plugin. More...
const std::string &	getPlannerPluginName () const
	Get the name of the planning plugin used. More...
bool	getPublishReceivedRequests () const
	Get the flag set by publishReceivedRequests() More...
const moveit::core::RobotModelConstPtr &	getRobotModel () const
	Get the robot model that this pipeline is using. More...
bool	isActive () const
	Get current status of the planning pipeline. More...
	PlanningPipeline (const moveit::core::RobotModelConstPtr &model, const ros::NodeHandle &pipeline_nh, const std::string &planning_plugin_name, const std::vector< std::string > &adapter_plugin_names)
	Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline. More...
	PlanningPipeline (const moveit::core::RobotModelConstPtr &model, const ros::NodeHandle &pipeline_nh=ros::NodeHandle("~"), const std::string &planning_plugin_param_name="planning_plugin", const std::string &adapter_plugins_param_name="request_adapters")
	Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline. More...
void	publishReceivedRequests (bool flag)
	Pass a flag telling the pipeline whether or not to publish the received motion planning requests on MOTION_PLAN_REQUEST_TOPIC. Default is false. More...
void	terminate () const
	Request termination, if a generatePlan() function is currently computing plans. More...

Static Public Attributes
static const std::string	DISPLAY_PATH_TOPIC = "display_planned_path"
	When motion plans are computed and they are supposed to be automatically displayed, they are sent to this topic (moveit_msgs::DisplauTrajectory) More...
static const std::string	MOTION_CONTACTS_TOPIC = "display_contacts"
	When contacts are found in the solution path reported by a planner, they can be published as markers on this topic (visualization_msgs::MarkerArray) More...
static const std::string	MOTION_PLAN_REQUEST_TOPIC = "motion_plan_request"
	When motion planning requests are received and they are supposed to be automatically published, they are sent to this topic (moveit_msgs::MotionPlanRequest) More...

Private Member Functions
void	configure ()

Private Attributes
std::atomic< bool >	active_
std::unique_ptr< planning_request_adapter::PlanningRequestAdapterChain >	adapter_chain_
std::unique_ptr< pluginlib::ClassLoader< planning_request_adapter::PlanningRequestAdapter > >	adapter_plugin_loader_
std::vector< std::string >	adapter_plugin_names_
bool	check_solution_paths_
	Flag indicating whether the reported plans should be checked once again, by the planning pipeline itself. More...
ros::Publisher	contacts_publisher_
bool	display_computed_motion_plans_
	Flag indicating whether motion plans should be published as a moveit_msgs::DisplayTrajectory. More...
ros::Publisher	display_path_publisher_
ros::NodeHandle	pipeline_nh_
planning_interface::PlannerManagerPtr	planner_instance_
std::unique_ptr< pluginlib::ClassLoader< planning_interface::PlannerManager > >	planner_plugin_loader_
std::string	planner_plugin_name_
ros::NodeHandle	private_nh_
bool	publish_received_requests_
ros::Publisher	received_request_publisher_
moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

This class facilitates loading planning plugins and planning request adapted plugins. and allows calling planning_interface::PlanningContext::solve() from a loaded planning plugin and the planning_request_adapter::PlanningRequestAdapter plugins, in the specified order.

Definition at line 88 of file planning_pipeline.h.

Constructor & Destructor Documentation

PlanningPipeline() [1/2]

planning_pipeline::PlanningPipeline::PlanningPipeline	(	const moveit::core::RobotModelConstPtr &	model,
		const ros::NodeHandle &	pipeline_nh = ros::NodeHandle("~"),
		const std::string &	planning_plugin_param_name = "planning_plugin",
		const std::string &	adapter_plugins_param_name = "request_adapters"
	)

Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline.

Parameters

model	The robot model for which this pipeline is initialized.
pipeline_nh	The ROS node handle that should be used for reading parameters needed for configuration
planning_plugin_param_name	The name of the ROS parameter under which the name of the planning plugin is specified
adapter_plugins_param_name	The name of the ROS parameter under which the names of the request adapter plugins are specified (plugin names separated by space; order matters)

Definition at line 51 of file planning_pipeline.cpp.

PlanningPipeline() [2/2]

planning_pipeline::PlanningPipeline::PlanningPipeline	(	const moveit::core::RobotModelConstPtr &	model,
		const ros::NodeHandle &	pipeline_nh,
		const std::string &	planning_plugin_name,
		const std::vector< std::string > &	adapter_plugin_names
	)

Given a robot model (model), a node handle (pipeline_nh), initialize the planning pipeline.

Parameters

model	The robot model for which this pipeline is initialized.
pipeline_nh	The ROS node handle that should be used for reading parameters needed for configuration
planning_plugin_name	The name of the planning plugin to load
adapter_plugins_names	The names of the planning request adapter plugins to load

Definition at line 73 of file planning_pipeline.cpp.

Member Function Documentation

checkSolutionPaths()

void planning_pipeline::PlanningPipeline::checkSolutionPaths

(

bool

flag

)

Pass a flag telling the pipeline whether or not to re-check the solution paths reported by the planner. This is true by default.

Definition at line 201 of file planning_pipeline.cpp.

configure()

void planning_pipeline::PlanningPipeline::configure ( )

private

Definition at line 87 of file planning_pipeline.cpp.

displayComputedMotionPlans()

void planning_pipeline::PlanningPipeline::displayComputedMotionPlans

(

bool

flag

)

Pass a flag telling the pipeline whether or not to publish the computed motion plans on DISPLAY_PATH_TOPIC. Default is true.

Definition at line 182 of file planning_pipeline.cpp.

generatePlan() [1/2]

bool planning_pipeline::PlanningPipeline::generatePlan	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		planning_interface::MotionPlanResponse &	res
	)		const

Call the motion planner plugin and the sequence of planning request adapters (if any).

Parameters

planning_scene	The planning scene where motion planning is to be done
req	The request for motion planning
res	The motion planning response

Definition at line 210 of file planning_pipeline.cpp.

generatePlan() [2/2]

bool planning_pipeline::PlanningPipeline::generatePlan	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		planning_interface::MotionPlanResponse &	res,
		std::vector< std::size_t > &	adapter_added_state_index
	)		const

Call the motion planner plugin and the sequence of planning request adapters (if any).

Parameters

planning_scene	The planning scene where motion planning is to be done
req	The request for motion planning
res	The motion planning response
adapter_added_state_index	Sometimes planning request adapters may add states on the solution path (e.g., add the current state of the robot as prefix, when the robot started to plan only from near that state, as the current state itself appears to touch obstacles). This is helpful because the added states should not be considered invalid in all situations.

Definition at line 218 of file planning_pipeline.cpp.

getAdapterPluginNames()

const std::vector<std::string>& planning_pipeline::PlanningPipeline::getAdapterPluginNames ( ) const

inline

Get the names of the planning request adapter plugins used.

Definition at line 217 of file planning_pipeline.h.

getCheckSolutionPaths()

bool planning_pipeline::PlanningPipeline::getCheckSolutionPaths ( ) const

inline

Get the flag set by checkSolutionPaths()

Definition at line 182 of file planning_pipeline.h.

getDisplayComputedMotionPlans()

bool planning_pipeline::PlanningPipeline::getDisplayComputedMotionPlans ( ) const

inline

Get the flag set by displayComputedMotionPlans()

Definition at line 170 of file planning_pipeline.h.

getPlannerManager()

const planning_interface::PlannerManagerPtr& planning_pipeline::PlanningPipeline::getPlannerManager ( )

inline

Get the planner manager for the loaded planning plugin.

Definition at line 223 of file planning_pipeline.h.

getPlannerPluginName()

const std::string& planning_pipeline::PlanningPipeline::getPlannerPluginName ( ) const

inline

Get the name of the planning plugin used.

Definition at line 211 of file planning_pipeline.h.

getPublishReceivedRequests()

bool planning_pipeline::PlanningPipeline::getPublishReceivedRequests ( ) const

inline

Get the flag set by publishReceivedRequests()

Definition at line 176 of file planning_pipeline.h.

getRobotModel()

const moveit::core::RobotModelConstPtr& planning_pipeline::PlanningPipeline::getRobotModel ( ) const

inline

Get the robot model that this pipeline is using.

Definition at line 229 of file planning_pipeline.h.

isActive()

bool planning_pipeline::PlanningPipeline::isActive ( ) const

inline

Get current status of the planning pipeline.

Definition at line 235 of file planning_pipeline.h.

publishReceivedRequests()

void planning_pipeline::PlanningPipeline::publishReceivedRequests

(

bool

flag

)

Pass a flag telling the pipeline whether or not to publish the received motion planning requests on MOTION_PLAN_REQUEST_TOPIC. Default is false.

Definition at line 191 of file planning_pipeline.cpp.

terminate()

void planning_pipeline::PlanningPipeline::terminate

(

)

const

Request termination, if a generatePlan() function is currently computing plans.

Definition at line 385 of file planning_pipeline.cpp.

Member Data Documentation

active_

std::atomic<bool> planning_pipeline::PlanningPipeline::active_

mutableprivate

Definition at line 244 of file planning_pipeline.h.

adapter_chain_

std::unique_ptr<planning_request_adapter::PlanningRequestAdapterChain> planning_pipeline::PlanningPipeline::adapter_chain_

private

Definition at line 266 of file planning_pipeline.h.

adapter_plugin_loader_

std::unique_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > planning_pipeline::PlanningPipeline::adapter_plugin_loader_

private

Definition at line 265 of file planning_pipeline.h.

adapter_plugin_names_

std::vector<std::string> planning_pipeline::PlanningPipeline::adapter_plugin_names_

private

Definition at line 267 of file planning_pipeline.h.

check_solution_paths_

bool planning_pipeline::PlanningPipeline::check_solution_paths_

private

Flag indicating whether the reported plans should be checked once again, by the planning pipeline itself.

Definition at line 272 of file planning_pipeline.h.

contacts_publisher_

ros::Publisher planning_pipeline::PlanningPipeline::contacts_publisher_

private

Definition at line 273 of file planning_pipeline.h.

display_computed_motion_plans_

bool planning_pipeline::PlanningPipeline::display_computed_motion_plans_

private

Flag indicating whether motion plans should be published as a moveit_msgs::DisplayTrajectory.

Definition at line 253 of file planning_pipeline.h.

display_path_publisher_

ros::Publisher planning_pipeline::PlanningPipeline::display_path_publisher_

private

Definition at line 254 of file planning_pipeline.h.

DISPLAY_PATH_TOPIC

const std::string planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC = "display_planned_path"

static

When motion plans are computed and they are supposed to be automatically displayed, they are sent to this topic (moveit_msgs::DisplauTrajectory)

Definition at line 125 of file planning_pipeline.h.

MOTION_CONTACTS_TOPIC

const std::string planning_pipeline::PlanningPipeline::MOTION_CONTACTS_TOPIC = "display_contacts"

static

When contacts are found in the solution path reported by a planner, they can be published as markers on this topic (visualization_msgs::MarkerArray)

Definition at line 133 of file planning_pipeline.h.

MOTION_PLAN_REQUEST_TOPIC

const std::string planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC = "motion_plan_request"

static

When motion planning requests are received and they are supposed to be automatically published, they are sent to this topic (moveit_msgs::MotionPlanRequest)

Definition at line 129 of file planning_pipeline.h.

pipeline_nh_

ros::NodeHandle planning_pipeline::PlanningPipeline::pipeline_nh_

private

Definition at line 247 of file planning_pipeline.h.

planner_instance_

planning_interface::PlannerManagerPtr planning_pipeline::PlanningPipeline::planner_instance_

private

Definition at line 262 of file planning_pipeline.h.

planner_plugin_loader_

std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planning_pipeline::PlanningPipeline::planner_plugin_loader_

private

Definition at line 261 of file planning_pipeline.h.

planner_plugin_name_

std::string planning_pipeline::PlanningPipeline::planner_plugin_name_

private

Definition at line 263 of file planning_pipeline.h.

private_nh_

ros::NodeHandle planning_pipeline::PlanningPipeline::private_nh_

private

Definition at line 250 of file planning_pipeline.h.

publish_received_requests_

bool planning_pipeline::PlanningPipeline::publish_received_requests_

private

Flag indicating whether received requests should be published just before beginning processing (useful for debugging)

Definition at line 258 of file planning_pipeline.h.

received_request_publisher_

ros::Publisher planning_pipeline::PlanningPipeline::received_request_publisher_

private

Definition at line 259 of file planning_pipeline.h.

robot_model_

moveit::core::RobotModelConstPtr planning_pipeline::PlanningPipeline::robot_model_

private

Definition at line 269 of file planning_pipeline.h.

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

• planning_pipeline.h
• planning_pipeline.cpp