#include <connect.h>

Inheritance diagram for moveit::task_constructor::stages::Connect:

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Public Types
using	GroupPlannerVector = std::vector< std::pair< std::string, solvers::PlannerInterfacePtr > >

enum	MergeMode : uint8_t { SEQUENTIAL = 0, WAYPOINTS = 1 }

Public Types inherited from moveit::task_constructor::Stage
using	pointer = std::unique_ptr< Stage >

enum	PropertyInitializerSource : uint8_t { DEFAULT = 0, MANUAL = 1, PARENT = 2, INTERFACE = 4 }

using	SolutionCallback = std::function< void(const SolutionBase &)>

using	SolutionCallbackList = std::list< SolutionCallback >

Public Member Functions
void	compute (const InterfaceState &from, const InterfaceState &to) override

	Connect (const std::string &name="connect", const GroupPlannerVector &planners={})

void	init (const moveit::core::RobotModelConstPtr &robot_model) override

void	reset () override
	reset stage, clearing all solutions, interfaces, inherited properties. More...

void	setMaxDistance (double max_distance)

void	setPathConstraints (moveit_msgs::Constraints path_constraints)

Public Member Functions inherited from moveit::task_constructor::Connecting
	Connecting (const std::string &name="connecting")

Public Member Functions inherited from moveit::task_constructor::Stage
SolutionCallbackList::const_iterator	addSolutionCallback (SolutionCallback &&cb)
	add function to be called for every newly found solution or failure More...

virtual bool	explainFailure (std::ostream &) const

const std::list< SolutionBaseConstPtr > &	failures () const

std::set< std::string >	forwardedProperties () const

void	forwardProperties (const InterfaceState &source, InterfaceState &dest)
	forwarding of properties between interface states More...

double	getTotalComputeTime () const

Introspection *	introspection () const

uint32_t	introspectionId () const

const std::string &	markerNS ()
	marker namespace of solution markers More...

const std::string &	name () const

size_t	numFailures () const

const ContainerBase *	parent () const

PropertyMap &	properties ()
	Get the stage's property map. More...

const PropertyMap &	properties () const

void	removeSolutionCallback (SolutionCallbackList::const_iterator which)
	remove function callback More...

void	reportPropertyError (const Property::error &e)
	Analyze source of error and report accordingly. More...

void	setCostTerm (const CostTermConstPtr &term)

template<typename T , typename = std::enable_if_t<std::is_constructible<LambdaCostTerm, T>::value>>
void	setCostTerm (T term)

void	setForwardedProperties (const std::set< std::string > &names)

void	setMarkerNS (const std::string &marker_ns)

void	setName (const std::string &name)

void	setProperty (const std::string &name, const boost::any &value)
	Set a previously declared property to a new value. More...

void	setProperty (const std::string &name, const char *value)
	overload: const char* values are stored as std::string More...

void	setTimeout (double timeout)

void	setTrajectoryExecutionInfo (TrajectoryExecutionInfo trajectory_execution_info)
	Set and get info to use when executing the stage's trajectory. More...

void	silentFailure ()
	Call to increase number of failures w/o storing a (failure) trajectory. More...

const ordered< SolutionBaseConstPtr > &	solutions () const

bool	storeFailures () const
	Should we generate failure solutions? Note: Always report a failure! More...

double	timeout () const
	timeout of stage per computation More...

TrajectoryExecutionInfo	trajectoryExecutionInfo () const

virtual	~Stage ()

Protected Member Functions
bool	compatible (const InterfaceState &from_state, const InterfaceState &to_state) const override
	compare consistency of planning scenes More...

SolutionSequencePtr	makeSequential (const std::vector< robot_trajectory::RobotTrajectoryConstPtr > &sub_trajectories, const std::vector< planning_scene::PlanningSceneConstPtr > &intermediate_scenes, const InterfaceState &from, const InterfaceState &to)

SubTrajectoryPtr	merge (const std::vector< robot_trajectory::RobotTrajectoryConstPtr > &sub_trajectories, const std::vector< planning_scene::PlanningSceneConstPtr > &intermediate_scenes, const moveit::core::RobotState &state)

Protected Member Functions inherited from moveit::task_constructor::Connecting
void	connect (const InterfaceState &from, const InterfaceState &to, const SolutionBasePtr &solution)
	register solution as a solution connecting states from -> to More...

void	connect (const InterfaceState &from, const InterfaceState &to, SubTrajectory &&trajectory)
	convienency methods consuming a SubTrajectory More...

void	connect (const InterfaceState &from, const InterfaceState &to, SubTrajectory &&trajectory, double cost)

Protected Member Functions inherited from moveit::task_constructor::ComputeBase
	ComputeBase (ComputeBasePrivate *impl)
	ComputeBase can only be instantiated by derived classes in stage.cpp. More...

Protected Member Functions inherited from moveit::task_constructor::Stage
	Stage (const Stage &)=delete
	Stage cannot be copied. More...

	Stage (StagePrivate *impl)
	Stage can only be instantiated through derived classes. More...

Protected Attributes
moveit::core::JointModelGroupPtr	merged_jmg_

GroupPlannerVector	planner_

std::list< InterfaceState >	states_

std::list< SubTrajectory >	subsolutions_

Protected Attributes inherited from moveit::task_constructor::Stage
StagePrivate *	pimpl_

Detailed Description

Connect arbitrary InterfaceStates by motion planning

The states may differ in various planning groups. To connect both states, the planners provided for individual sub groups are applied in the specified order. Each planner only plan for joints within the corresponding planning group. Finally, an attempt is made to merge the sub trajectories of individual planning results. If this fails, the sequential planning result is returned.

Definition at line 64 of file connect.h.

Member Typedef Documentation

◆ GroupPlannerVector

using moveit::task_constructor::stages::Connect::GroupPlannerVector = std::vector<std::pair<std::string, solvers::PlannerInterfacePtr> >

Definition at line 76 of file connect.h.

Member Enumeration Documentation

◆ MergeMode

enum moveit::task_constructor::stages::Connect::MergeMode : uint8_t

Enumerator
SEQUENTIAL
WAYPOINTS

Definition at line 70 of file connect.h.

Constructor & Destructor Documentation

◆ Connect()

moveit::task_constructor::stages::Connect::Connect	(	const std::string &	name = `"connect"`,
		const GroupPlannerVector &	planners = `{}`
	)

Definition at line 53 of file connect.cpp.

Member Function Documentation

◆ compatible()

bool moveit::task_constructor::stages::Connect::compatible	(	const InterfaceState &	from_state,
		const InterfaceState &	to_state
	)		const

overrideprotectedvirtual

compare consistency of planning scenes

Reimplemented from moveit::task_constructor::Connecting.

Definition at line 107 of file connect.cpp.

◆ compute()

void moveit::task_constructor::stages::Connect::compute	(	const InterfaceState &	from,
		const InterfaceState &	to
	)

overridevirtual

Implements moveit::task_constructor::Connecting.

Definition at line 138 of file connect.cpp.

◆ init()

void moveit::task_constructor::stages::Connect::init ( const moveit::core::RobotModelConstPtr & robot_model )

overridevirtual

initialize stage once before planning

When called, properties configured for initialization from parent are already defined. Push interfaces are not yet defined!

Reimplemented from moveit::task_constructor::Stage.

Definition at line 74 of file connect.cpp.

◆ makeSequential()

SolutionSequencePtr moveit::task_constructor::stages::Connect::makeSequential	(	const std::vector< robot_trajectory::RobotTrajectoryConstPtr > &	sub_trajectories,
		const std::vector< planning_scene::PlanningSceneConstPtr > &	intermediate_scenes,
		const InterfaceState &	from,
		const InterfaceState &	to
	)

protected

Definition at line 196 of file connect.cpp.

◆ merge()

SubTrajectoryPtr moveit::task_constructor::stages::Connect::merge	(	const std::vector< robot_trajectory::RobotTrajectoryConstPtr > &	sub_trajectories,
		const std::vector< planning_scene::PlanningSceneConstPtr > &	intermediate_scenes,
		const moveit::core::RobotState &	state
	)

protected

Definition at line 232 of file connect.cpp.

◆ reset()

void moveit::task_constructor::stages::Connect::reset ( )

overridevirtual

reset stage, clearing all solutions, interfaces, inherited properties.

Reimplemented from moveit::task_constructor::Connecting.

Definition at line 67 of file connect.cpp.

◆ setMaxDistance()

void moveit::task_constructor::stages::Connect::setMaxDistance ( double max_distance )

inline

Definition at line 79 of file connect.h.

◆ setPathConstraints()

void moveit::task_constructor::stages::Connect::setPathConstraints ( moveit_msgs::Constraints path_constraints )

inline

Definition at line 80 of file connect.h.

Member Data Documentation

◆ merged_jmg_

moveit::core::JointModelGroupPtr moveit::task_constructor::stages::Connect::merged_jmg_

protected

Definition at line 98 of file connect.h.

◆ planner_

GroupPlannerVector moveit::task_constructor::stages::Connect::planner_

protected

Definition at line 97 of file connect.h.

◆ states_

std::list<InterfaceState> moveit::task_constructor::stages::Connect::states_

protected

Definition at line 100 of file connect.h.

◆ subsolutions_

std::list<SubTrajectory> moveit::task_constructor::stages::Connect::subsolutions_

protected

Definition at line 99 of file connect.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GroupPlannerVector

Member Enumeration Documentation

◆ MergeMode

Constructor & Destructor Documentation

◆ Connect()

Member Function Documentation

◆ compatible()

◆ compute()

◆ init()

◆ makeSequential()

◆ merge()

◆ reset()

◆ setMaxDistance()

◆ setPathConstraints()

Member Data Documentation

◆ merged_jmg_

◆ planner_

◆ states_

◆ subsolutions_