The continual planning loop. More...

#include <continualPlanning.h>

Public Types
enum	ContinualPlanningState { Running, FinishedNoPlanToGoal, FinishedAtGoal }
enum	ReplanningTriggerMethod { ReplanAlways, ReplanIfLogicalStateChanged, ReplanByMonitoring }
Public Member Functions
	ContinualPlanning ()
bool	estimateCurrentState ()
	Update _currentState from the world.
bool	executeActionDirectly (const DurativeAction &a, bool publishStatus)
	For debugging, just execute this action.
void	forceReplanning ()
	Force replanning in the next loop.
bool	isGoalFulfilled () const
	Does _currentState match _goal?
ContinualPlanningState	loop ()
	Execute one loop step.
	~ContinualPlanning ()
Protected Member Functions
Plan	monitorAndReplan (bool &atGoal)
	Return a plan that reaches the goal.
bool	needReplanning (bool &atGoal) const
	Returns true, if replanning needs to be done as _currentPlan in _currentState doesn't reach _goal.
Protected Attributes
bool	_allowDirectGoalCheck
	Allow to check reached goal by using the _goal instead of monitoring.
Plan	_currentPlan
SymbolicState	_currentState
bool	_forceReplan
	If true, someone want to hard trigger replanning in the next step.
SymbolicState	_goal
PlanExecutor	_planExecutor
continual_planning_executive::PlannerInterface *	_planner
ReplanningTriggerMethod	_replanningTrigger
std::vector < continual_planning_executive::StateCreator * >	_stateCreators
StatusPublisher	_status
Friends
bool	loadActionExecutors (ros::NodeHandle &nh)
bool	loadGoalCreators (ros::NodeHandle &nh)
bool	loadPlanner (ros::NodeHandle &nh)
bool	loadStateCreators (ros::NodeHandle &nh)
void	signal_handler (int)

Detailed Description

The continual planning loop.

Definition at line 32 of file continualPlanning.h.

Member Enumeration Documentation

enum ContinualPlanning::ContinualPlanningState

Enumerator:

Running
FinishedNoPlanToGoal
FinishedAtGoal

Definition at line 41 of file continualPlanning.h.

enum ContinualPlanning::ReplanningTriggerMethod

Enumerator:

ReplanAlways
ReplanIfLogicalStateChanged
ReplanByMonitoring

Definition at line 47 of file continualPlanning.h.

Constructor & Destructor Documentation

ContinualPlanning::ContinualPlanning ( )

Definition at line 6 of file continualPlanning.cpp.

ContinualPlanning::~ContinualPlanning ( )

Definition at line 13 of file continualPlanning.cpp.

Member Function Documentation

bool ContinualPlanning::estimateCurrentState ( )

Update _currentState from the world.

Definition at line 105 of file continualPlanning.cpp.

bool ContinualPlanning::executeActionDirectly	(	const DurativeAction &	a,
		bool	publishStatus
	)

For debugging, just execute this action.

Definition at line 71 of file continualPlanning.cpp.

void ContinualPlanning::forceReplanning ( ) [inline]

Force replanning in the next loop.

Definition at line 73 of file continualPlanning.h.

bool ContinualPlanning::isGoalFulfilled ( ) const

Does _currentState match _goal?

Definition at line 100 of file continualPlanning.cpp.

ContinualPlanning::ContinualPlanningState ContinualPlanning::loop ( )

Execute one loop step.

Returns:: Running, if the planning loop should continue

Definition at line 17 of file continualPlanning.cpp.

Plan ContinualPlanning::monitorAndReplan ( bool & atGoal ) [protected]

Return a plan that reaches the goal.

This might either be a copy of the current plan if that reaches the goal or a new plan.

Parameters:

[out] atGoal if the empty plan was successfully monitored, the atGoal flag is set to true

Returns:: a new plan that reaches _goal or an empty plan, if no plan could be found

Definition at line 118 of file continualPlanning.cpp.

bool ContinualPlanning::needReplanning ( bool & atGoal ) const [protected]

Returns true, if replanning needs to be done as _currentPlan in _currentState doesn't reach _goal.

Parameters:

[out] atGoal if the empty plan was successfully monitored, the atGoal flag is set to true

Definition at line 149 of file continualPlanning.cpp.

Friends And Related Function Documentation

bool loadActionExecutors ( ros::NodeHandle & nh ) [friend]

Definition at line 153 of file main.cpp.

bool loadGoalCreators ( ros::NodeHandle & nh ) [friend]

Definition at line 96 of file main.cpp.

bool loadPlanner ( ros::NodeHandle & nh ) [friend]

Definition at line 206 of file main.cpp.

bool loadStateCreators ( ros::NodeHandle & nh ) [friend]

Definition at line 43 of file main.cpp.

void signal_handler ( int signal ) [friend]

Definition at line 339 of file main.cpp.

Member Data Documentation

bool ContinualPlanning::_allowDirectGoalCheck [protected]

Allow to check reached goal by using the _goal instead of monitoring.

Definition at line 104 of file continualPlanning.h.

Plan ContinualPlanning::_currentPlan [protected]

Definition at line 99 of file continualPlanning.h.

SymbolicState ContinualPlanning::_currentState [protected]

Definition at line 97 of file continualPlanning.h.

bool ContinualPlanning::_forceReplan [protected]

If true, someone want to hard trigger replanning in the next step.

Definition at line 101 of file continualPlanning.h.

SymbolicState ContinualPlanning::_goal [protected]

Definition at line 98 of file continualPlanning.h.

PlanExecutor ContinualPlanning::_planExecutor [protected]

Definition at line 95 of file continualPlanning.h.

continual_planning_executive::PlannerInterface* ContinualPlanning::_planner [protected]

Definition at line 94 of file continualPlanning.h.

ReplanningTriggerMethod ContinualPlanning::_replanningTrigger [protected]

Definition at line 102 of file continualPlanning.h.

std::vector<continual_planning_executive::StateCreator*> ContinualPlanning::_stateCreators [protected]

Definition at line 93 of file continualPlanning.h.

StatusPublisher ContinualPlanning::_status [protected]

Definition at line 106 of file continualPlanning.h.

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

Public Types

Public Member Functions

Protected Member Functions