moveit::task_constructor::solvers::PipelinePlanner Class Reference

#include <pipeline_planner.h>

Inheritance diagram for moveit::task_constructor::solvers::PipelinePlanner:

Classes
struct	Specification

Public Member Functions
void	init (const moveit::core::RobotModelConstPtr &robot_model) override
	PipelinePlanner (const planning_pipeline::PlanningPipelinePtr &planning_pipeline)
	PipelinePlanner (const std::string &pipeline="ompl")
Result	plan (const planning_scene::PlanningSceneConstPtr &from, const moveit::core::LinkModel &link, const Eigen::Isometry3d &offset, const Eigen::Isometry3d &target, const moveit::core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr &result, const moveit_msgs::Constraints &path_constraints=moveit_msgs::Constraints()) override
	plan trajectory from current robot state to Cartesian target, such that pose(link)*offset == target More...
Result	plan (const planning_scene::PlanningSceneConstPtr &from, const planning_scene::PlanningSceneConstPtr &to, const core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr &result, const moveit_msgs::Constraints &path_constraints=moveit_msgs::Constraints()) override
	plan trajectory between to robot states More...
void	setPlannerId (const std::string &planner)
Public Member Functions inherited from moveit::task_constructor::solvers::PlannerInterface
	PlannerInterface ()
PropertyMap &	properties ()
const PropertyMap &	properties () const
void	setMaxAccelerationScalingFactor (double factor)
void	setMaxVelocityScalingFactor (double factor)
void	setProperty (const std::string &name, const boost::any &value)
void	setTimeout (double timeout)
void	setTimeParameterization (const trajectory_processing::TimeParameterizationPtr &tp)
virtual	~PlannerInterface ()

Static Public Member Functions
static planning_pipeline::PlanningPipelinePtr	create (const moveit::core::RobotModelConstPtr &model)
static planning_pipeline::PlanningPipelinePtr	create (const Specification &spec)

Protected Member Functions
Result	plan (const planning_scene::PlanningSceneConstPtr &from, const moveit_msgs::MotionPlanRequest &req, robot_trajectory::RobotTrajectoryPtr &result)

Protected Attributes
std::string	pipeline_name_
planning_pipeline::PlanningPipelinePtr	planner_

Detailed Description

Use MoveIt's PlanningPipeline to plan a trajectory between to scenes

Definition at line 56 of file pipeline_planner.h.

Constructor & Destructor Documentation

PipelinePlanner() [1/2]

moveit::task_constructor::solvers::PipelinePlanner::PipelinePlanner

(

const std::string &

pipeline = "ompl"

)

Definition at line 200 of file pipeline_planner.cpp.

PipelinePlanner() [2/2]

moveit::task_constructor::solvers::PipelinePlanner::PipelinePlanner

(

const planning_pipeline::PlanningPipelinePtr &

planning_pipeline

)

Definition at line 219 of file pipeline_planner.cpp.

Member Function Documentation

create() [1/2]

static planning_pipeline::PlanningPipelinePtr moveit::task_constructor::solvers::PipelinePlanner::create ( const moveit::core::RobotModelConstPtr &  model )

inlinestatic

Definition at line 67 of file pipeline_planner.h.

create() [2/2]

planning_pipeline::PlanningPipelinePtr moveit::task_constructor::solvers::PipelinePlanner::create ( const Specification &  spec )

static

Definition at line 173 of file pipeline_planner.cpp.

init()

void moveit::task_constructor::solvers::PipelinePlanner::init ( const moveit::core::RobotModelConstPtr &  robot_model )

overridevirtual

Implements moveit::task_constructor::solvers::PlannerInterface.

Definition at line 223 of file pipeline_planner.cpp.

plan() [1/3]

PlannerInterface::Result moveit::task_constructor::solvers::PipelinePlanner::plan ( const planning_scene::PlanningSceneConstPtr &  from, const moveit::core::LinkModel &  link, const Eigen::Isometry3d &  offset, const Eigen::Isometry3d &  target, const moveit::core::JointModelGroup *  jmg, double  timeout, robot_trajectory::RobotTrajectoryPtr &  result, const moveit_msgs::Constraints &  path_constraints = moveit_msgs::Constraints()  )

overridevirtual

plan trajectory from current robot state to Cartesian target, such that pose(link)*offset == target

Implements moveit::task_constructor::solvers::PlannerInterface.

Definition at line 268 of file pipeline_planner.cpp.

plan() [2/3]

PlannerInterface::Result moveit::task_constructor::solvers::PipelinePlanner::plan ( const planning_scene::PlanningSceneConstPtr &  from, const moveit_msgs::MotionPlanRequest &  req, robot_trajectory::RobotTrajectoryPtr &  result  )

protected

Definition at line 291 of file pipeline_planner.cpp.

plan() [3/3]

PlannerInterface::Result moveit::task_constructor::solvers::PipelinePlanner::plan ( const planning_scene::PlanningSceneConstPtr &  from, const planning_scene::PlanningSceneConstPtr &  to, const core::JointModelGroup *  jmg, double  timeout, robot_trajectory::RobotTrajectoryPtr &  result, const moveit_msgs::Constraints &  path_constraints = moveit_msgs::Constraints()  )

overridevirtual

plan trajectory between to robot states

Implements moveit::task_constructor::solvers::PlannerInterface.

Definition at line 251 of file pipeline_planner.cpp.

setPlannerId()

void moveit::task_constructor::solvers::PipelinePlanner::setPlannerId ( const std::string &  planner )

inline

Definition at line 79 of file pipeline_planner.h.

Member Data Documentation

pipeline_name_

std::string moveit::task_constructor::solvers::PipelinePlanner::pipeline_name_

protected

Definition at line 96 of file pipeline_planner.h.

planner_

planning_pipeline::PlanningPipelinePtr moveit::task_constructor::solvers::PipelinePlanner::planner_

protected

Definition at line 97 of file pipeline_planner.h.

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

• pipeline_planner.h
• pipeline_planner.cpp