This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained. More...
#include <planning_scene.h>
Classes | |
| struct | CollisionDetector |
Public Member Functions | |
| void | addCollisionDetector (const collision_detection::CollisionDetectorAllocatorPtr &allocator) |
| Add a new collision detector type. | |
| void | checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const |
| Check whether the current state is in collision. | |
| void | checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate) const |
| Check whether a specified state (kstate) is in collision. | |
| void | checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const |
| Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm) | |
| void | checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const |
| Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding. | |
| void | checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate) const |
| Check whether a specified state (kstate) is in collision, but use a collision_detection::CollisionRobot instance that has no padding. | |
| void | checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const |
| Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding. | |
| void | checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const |
| Check whether the current state is in self collision. | |
| void | checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate) const |
| Check whether a specified state (kstate) is in self collision. | |
| void | checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const |
| Check whether a specified state (kstate) is in self collision, with respect to a given allowed collision matrix (acm) | |
| void | clearDiffs () |
| Clear the diffs accumulated for this planning scene, with respect to the parent. This function is a no-op if there is no parent specified. | |
| void | decoupleParent () |
| Make sure that all the data maintained in this scene is local. All unmodified data is copied from the parent and the pointer to the parent is discarded. | |
| PlanningScenePtr | diff () const |
| Return a new child PlanningScene that uses this one as parent. | |
| PlanningScenePtr | diff (const moveit_msgs::PlanningScene &msg) const |
| Return a new child PlanningScene that uses this one as parent and has the diffs specified by msg applied. | |
| double | distanceToCollision (const robot_state::RobotState &kstate) const |
| The distance between the robot model at state kstate to the nearest collision. | |
| double | distanceToCollision (const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const |
| The distance between the robot model at state kstate to the nearest collision, ignoring distances between elements that always allowed to collide. | |
| double | distanceToCollisionUnpadded (const robot_state::RobotState &kstate) const |
| The distance between the robot model at state kstate to the nearest collision, if the robot has no padding. | |
| double | distanceToCollisionUnpadded (const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const |
| The distance between the robot model at state kstate to the nearest collision, ignoring distances between elements that always allowed to collide, if the robot has no padding. | |
| const std::string & | getActiveCollisionDetectorName () const |
| const collision_detection::AllowedCollisionMatrix & | getAllowedCollisionMatrix () const |
| Get the allowed collision matrix. | |
| collision_detection::AllowedCollisionMatrix & | getAllowedCollisionMatrixNonConst () |
| Get the allowed collision matrix. | |
| void | getCollidingLinks (std::vector< std::string > &links) const |
| Get the names of the links that are involved in collisions for the current state. | |
| void | getCollidingLinks (std::vector< std::string > &links, const robot_state::RobotState &kstate) const |
| Get the names of the links that are involved in collisions for the state kstate. | |
| void | getCollidingLinks (std::vector< std::string > &links, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const |
| Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm) | |
| void | getCollisionDetectorNames (std::vector< std::string > &names) const |
| get the types of collision detector that have already been added. These are the types which can be passed to setActiveCollisionDetector(). | |
| const collision_detection::CollisionRobotConstPtr & | getCollisionRobot () const |
| Get the active collision detector for the robot. | |
| const collision_detection::CollisionRobotConstPtr & | getCollisionRobot (const std::string &collision_detector_name) const |
| Get a specific collision detector for the padded robot. If no found return active CollisionRobot. | |
| const collision_detection::CollisionRobotPtr & | getCollisionRobotNonConst () |
| Get the representation of the collision robot This can be used to set padding and link scale on the active collision_robot. NOTE: After modifying padding and scale on the active robot call propogateRobotPadding() to copy it to all the other collision detectors. | |
| const collision_detection::CollisionRobotConstPtr & | getCollisionRobotUnpadded () const |
| Get the active collision detector for the robot. | |
| const collision_detection::CollisionRobotConstPtr & | getCollisionRobotUnpadded (const std::string &collision_detector_name) const |
| Get a specific collision detector for the unpadded robot. If no found return active unpadded CollisionRobot. | |
| const collision_detection::CollisionWorldConstPtr & | getCollisionWorld () const |
| Get the active collision detector for the world. | |
| const collision_detection::CollisionWorldConstPtr & | getCollisionWorld (const std::string &collision_detector_name) const |
| Get a specific collision detector for the world. If not found return active CollisionWorld. | |
| void | getCostSources (const robot_trajectory::RobotTrajectory &trajectory, std::size_t max_costs, std::set< collision_detection::CostSource > &costs, double overlap_fraction=0.9) const |
| Get the top max_costs cost sources for a specified trajectory. The resulting costs are stored in costs. | |
| void | getCostSources (const robot_trajectory::RobotTrajectory &trajectory, std::size_t max_costs, const std::string &group_name, std::set< collision_detection::CostSource > &costs, double overlap_fraction=0.9) const |
| Get the top max_costs cost sources for a specified trajectory, but only for group group_name. The resulting costs are stored in costs. | |
| void | getCostSources (const robot_state::RobotState &state, std::size_t max_costs, std::set< collision_detection::CostSource > &costs) const |
| Get the top max_costs cost sources for a specified state. The resulting costs are stored in costs. | |
| void | getCostSources (const robot_state::RobotState &state, std::size_t max_costs, const std::string &group_name, std::set< collision_detection::CostSource > &costs) const |
| Get the top max_costs cost sources for a specified state, but only for group group_name. The resulting costs are stored in costs. | |
| const robot_state::RobotState & | getCurrentState () const |
| Get the state at which the robot is assumed to be. | |
| robot_state::RobotState & | getCurrentStateNonConst () |
| Get the state at which the robot is assumed to be. | |
| robot_state::RobotStatePtr | getCurrentStateUpdated (const moveit_msgs::RobotState &update) const |
| Get a copy of the current state with components overwritten by the state message update. | |
| const Eigen::Affine3d & | getFrameTransform (const std::string &id) const |
| Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. | |
| const Eigen::Affine3d & | getFrameTransform (const robot_state::RobotState &state, const std::string &id) const |
| Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. | |
| void | getKnownObjectColors (ObjectColorMap &kc) const |
| void | getKnownObjectTypes (ObjectTypeMap &kc) const |
| const MotionFeasibilityFn & | getMotionFeasibilityPredicate () const |
| Get the predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. | |
| const std::string & | getName () const |
| Get the name of the planning scene. This is empty by default. | |
| const std_msgs::ColorRGBA & | getObjectColor (const std::string &id) const |
| const object_recognition_msgs::ObjectType & | getObjectType (const std::string &id) const |
| const PlanningSceneConstPtr & | getParent () const |
| Get the parent scene (whith respect to which the diffs are maintained). This may be empty. | |
| const std::string & | getPlanningFrame () const |
| Get the frame in which planning is performed. | |
| void | getPlanningSceneDiffMsg (moveit_msgs::PlanningScene &scene) const |
| Fill the message scene with the differences between this instance of PlanningScene with respect to the parent. If there is no parent, everything is considered to be a diff and the function behaves like getPlanningSceneMsg() | |
| void | getPlanningSceneMsg (moveit_msgs::PlanningScene &scene) const |
| Construct a message (scene) with all the necessary data so that the scene can be later reconstructed to be exactly the same using setPlanningSceneMsg() | |
| void | getPlanningSceneMsg (moveit_msgs::PlanningScene &scene, const moveit_msgs::PlanningSceneComponents &comp) const |
| Construct a message (scene) with the data requested in comp. If all options in comp are filled, this will be a complete planning scene message. | |
| const robot_model::RobotModelConstPtr & | getRobotModel () const |
| Get the kinematic model for which the planning scene is maintained. | |
| const StateFeasibilityFn & | getStateFeasibilityPredicate () const |
| Get the predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. | |
| const robot_state::Transforms & | getTransforms () const |
| Get the set of fixed transforms from known frames to the planning frame. | |
| robot_state::Transforms & | getTransformsNonConst () |
| Get the set of fixed transforms from known frames to the planning frame. | |
| const collision_detection::WorldConstPtr & | getWorld () const |
| Get the representation of the world. | |
| const collision_detection::WorldPtr & | getWorldNonConst () |
| bool | hasObjectColor (const std::string &id) const |
| bool | hasObjectType (const std::string &id) const |
| bool | isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility) | |
| bool | isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. | |
| bool | isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const moveit_msgs::Constraints &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. | |
| bool | isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::vector< moveit_msgs::Constraints > &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. | |
| bool | isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::vector< moveit_msgs::Constraints > &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. | |
| bool | isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const moveit_msgs::Constraints &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. | |
| bool | isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). | |
| bool | isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const |
| Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility) | |
| bool | isStateColliding (const std::string &group="", bool verbose=false) const |
| Check if the current state is in collision (with the environment or self collision) | |
| bool | isStateColliding (const moveit_msgs::RobotState &state, const std::string &group="", bool verbose=false) const |
| Check if a given state is in collision (with the environment or self collision) | |
| bool | isStateColliding (const robot_state::RobotState &state, const std::string &group="", bool verbose=false) const |
| Check if a given state is in collision (with the environment or self collision) | |
| bool | isStateConstrained (const moveit_msgs::RobotState &state, const moveit_msgs::Constraints &constr, bool verbose=false) const |
| Check if a given state satisfies a set of constraints. | |
| bool | isStateConstrained (const robot_state::RobotState &state, const moveit_msgs::Constraints &constr, bool verbose=false) const |
| Check if a given state satisfies a set of constraints. | |
| bool | isStateConstrained (const moveit_msgs::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, bool verbose=false) const |
| Check if a given state satisfies a set of constraints. | |
| bool | isStateConstrained (const robot_state::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, bool verbose=false) const |
| Check if a given state satisfies a set of constraints. | |
| bool | isStateFeasible (const moveit_msgs::RobotState &state, bool verbose=false) const |
| Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified. | |
| bool | isStateFeasible (const robot_state::RobotState &state, bool verbose=false) const |
| Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified. | |
| bool | isStateValid (const moveit_msgs::RobotState &state, const std::string &group="", bool verbose=false) const |
| Check if a given state is valid. This means checking for collisions and feasibility. | |
| bool | isStateValid (const robot_state::RobotState &state, const std::string &group="", bool verbose=false) const |
| Check if a given state is valid. This means checking for collisions and feasibility. | |
| bool | isStateValid (const moveit_msgs::RobotState &state, const moveit_msgs::Constraints &constr, const std::string &group="", bool verbose=false) const |
| Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. | |
| bool | isStateValid (const robot_state::RobotState &state, const moveit_msgs::Constraints &constr, const std::string &group="", bool verbose=false) const |
| Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. | |
| bool | isStateValid (const robot_state::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, const std::string &group="", bool verbose=false) const |
| Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. | |
| bool | knowsFrameTransform (const std::string &id) const |
| Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object. | |
| bool | knowsFrameTransform (const robot_state::RobotState &state, const std::string &id) const |
| Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object. | |
| void | loadGeometryFromStream (std::istream &in) |
| Load the geometry of the planning scene from a stream. | |
| PlanningScene (const robot_model::RobotModelPtr &robot_model, collision_detection::WorldPtr world=collision_detection::WorldPtr(new collision_detection::World())) | |
| construct using an existing RobotModel | |
| PlanningScene (const boost::shared_ptr< const urdf::ModelInterface > &urdf_model, const boost::shared_ptr< const srdf::Model > &srdf_model, collision_detection::WorldPtr world=collision_detection::WorldPtr(new collision_detection::World())) | |
| construct using a urdf and srdf. A RobotModel for the PlanningScene will be created using the urdf and srdf. | |
| void | printKnownObjects (std::ostream &out) const |
| Outputs debug information about the planning scene contents. | |
| bool | processAttachedCollisionObjectMsg (const moveit_msgs::AttachedCollisionObject &object) |
| void | processCollisionMapMsg (const moveit_msgs::CollisionMap &map) |
| bool | processCollisionObjectMsg (const moveit_msgs::CollisionObject &object) |
| void | processOctomapMsg (const octomap_msgs::OctomapWithPose &map) |
| void | processOctomapMsg (const octomap_msgs::Octomap &map) |
| void | processOctomapPtr (const boost::shared_ptr< const octomap::OcTree > &octree, const Eigen::Affine3d &t) |
| void | processPlanningSceneWorldMsg (const moveit_msgs::PlanningSceneWorld &world) |
| void | propogateRobotPadding () |
| Copy scale and padding from active CollisionRobot to other CollisionRobots. This should be called after any changes are made to the scale or padding of the active CollisionRobot. This has no effect on the unpadded CollisionRobots. | |
| void | pushDiffs (const PlanningScenePtr &scene) |
| If there is a parent specified for this scene, then the diffs with respect to that parent are applied to a specified planning scene, whatever that scene may be. If there is no parent specified, this function is a no-op. | |
| void | removeObjectColor (const std::string &id) |
| void | removeObjectType (const std::string &id) |
| void | saveGeometryToStream (std::ostream &out) const |
| Save the geometry of the planning scene to a stream, as plain text. | |
| void | setActiveCollisionDetector (const collision_detection::CollisionDetectorAllocatorPtr &allocator, bool exclusive=false) |
| Set the type of collision detector to use. Calls addCollisionDetector() to add it if it has not already been added. | |
| bool | setActiveCollisionDetector (const std::string &collision_detector_name) |
| Set the type of collision detector to use. This type must have already been added with addCollisionDetector(). | |
| void | setAttachedBodyUpdateCallback (const robot_state::AttachedBodyCallback &callback) |
| Set the callback to be triggered when changes are made to the current scene state. | |
| void | setCollisionObjectUpdateCallback (const collision_detection::World::ObserverCallbackFn &callback) |
| Set the callback to be triggered when changes are made to the current scene world. | |
| void | setCurrentState (const moveit_msgs::RobotState &state) |
| Set the current robot state to be state. If not all joint values are specified, the previously maintained joint values are kept. | |
| void | setCurrentState (const robot_state::RobotState &state) |
| Set the current robot state. | |
| void | setMotionFeasibilityPredicate (const MotionFeasibilityFn &fn) |
| Specify a predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. | |
| void | setName (const std::string &name) |
| Set the name of the planning scene. | |
| void | setObjectColor (const std::string &id, const std_msgs::ColorRGBA &color) |
| void | setObjectType (const std::string &id, const object_recognition_msgs::ObjectType &type) |
| void | setPlanningSceneDiffMsg (const moveit_msgs::PlanningScene &scene) |
| Apply changes to this planning scene as diffs, even if the message itself is not marked as being a diff (is_diff member). A parent is not required to exist. However, the existing data in the planning instance is not cleared. Data from the message is only appended (and in cases such as e.g., the robot state, is overwritten). | |
| void | setPlanningSceneMsg (const moveit_msgs::PlanningScene &scene) |
| Set this instance of a planning scene to be the same as the one serialized in the scene message, even if the message itself is marked as being a diff (is_diff member) | |
| void | setStateFeasibilityPredicate (const StateFeasibilityFn &fn) |
| Specify a predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. This is useful for setting up problem specific constraints (e.g., stability) | |
| void | usePlanningSceneMsg (const moveit_msgs::PlanningScene &scene) |
| Call setPlanningSceneMsg() or setPlanningSceneDiffMsg() depending on how the is_diff member of the message is set. | |
| ~PlanningScene () | |
Static Public Member Functions | |
| static PlanningScenePtr | clone (const PlanningSceneConstPtr &scene) |
| Clone a planning scene. Even if the scene scene depends on a parent, the cloned scene will not. | |
| static bool | isEmpty (const moveit_msgs::PlanningScene &msg) |
| Check if a message includes any information about a planning scene, or it is just a default, empty message. | |
| static bool | isEmpty (const moveit_msgs::PlanningSceneWorld &msg) |
| Check if a message includes any information about a planning scene world, or it is just a default, empty message. | |
| static bool | isEmpty (const moveit_msgs::RobotState &msg) |
| Check if a message includes any information about a robot state, or it is just a default, empty message. | |
Static Public Attributes | |
| static const std::string | COLLISION_MAP_NS = "<collision_map>" |
| static const std::string | DEFAULT_SCENE_NAME = "(noname)" |
| static const std::string | OCTOMAP_NS = "<octomap>" |
Private Types | |
| typedef std::map< std::string, CollisionDetectorPtr > ::const_iterator | CollisionDetectorConstIterator |
| typedef boost::shared_ptr < const CollisionDetector > | CollisionDetectorConstPtr |
| typedef std::map< std::string, CollisionDetectorPtr > ::iterator | CollisionDetectorIterator |
| typedef boost::shared_ptr < CollisionDetector > | CollisionDetectorPtr |
Private Member Functions | |
| void | allocateCollisionDetectors () |
| void | allocateCollisionDetectors (CollisionDetector &detector) |
| void | getPlanningSceneMsgCollisionMap (moveit_msgs::PlanningScene &scene) const |
| void | getPlanningSceneMsgCollisionObject (moveit_msgs::PlanningScene &scene, const std::string &ns) const |
| void | getPlanningSceneMsgCollisionObjects (moveit_msgs::PlanningScene &scene) const |
| void | getPlanningSceneMsgObjectColors (moveit_msgs::PlanningScene &scene_msg) const |
| void | getPlanningSceneMsgOctomap (moveit_msgs::PlanningScene &scene) const |
| void | initialize () |
| PlanningScene (const PlanningSceneConstPtr &parent) | |
Static Private Member Functions | |
| static robot_model::RobotModelPtr | createRobotModel (const boost::shared_ptr< const urdf::ModelInterface > &urdf_model, const boost::shared_ptr< const srdf::Model > &srdf_model) |
Private Attributes | |
| collision_detection::AllowedCollisionMatrixPtr | acm_ |
| CollisionDetectorPtr | active_collision_ |
| std::map< std::string, CollisionDetectorPtr > | collision_ |
| robot_state::AttachedBodyCallback | current_state_attached_body_callback_ |
| collision_detection::World::ObserverCallbackFn | current_world_object_update_callback_ |
| collision_detection::World::ObserverHandle | current_world_object_update_observer_handle_ |
| robot_state::TransformsPtr | ftf_ |
| robot_model::RobotModelConstPtr | kmodel_ |
| robot_state::RobotStatePtr | kstate_ |
| MotionFeasibilityFn | motion_feasibility_ |
| std::string | name_ |
| boost::scoped_ptr< ObjectColorMap > | object_colors_ |
| boost::scoped_ptr< ObjectTypeMap > | object_types_ |
| PlanningSceneConstPtr | parent_ |
| StateFeasibilityFn | state_feasibility_ |
| collision_detection::WorldPtr | world_ |
| collision_detection::WorldConstPtr | world_const_ |
| collision_detection::WorldDiffPtr | world_diff_ |
Friends | |
| struct | CollisionDetector |
This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained.
Definition at line 85 of file planning_scene.h.
typedef std::map<std::string, CollisionDetectorPtr>::const_iterator planning_scene::PlanningScene::CollisionDetectorConstIterator [private] |
Definition at line 649 of file planning_scene.h.
typedef boost::shared_ptr<const CollisionDetector> planning_scene::PlanningScene::CollisionDetectorConstPtr [private] |
Definition at line 619 of file planning_scene.h.
typedef std::map<std::string, CollisionDetectorPtr>::iterator planning_scene::PlanningScene::CollisionDetectorIterator [private] |
Definition at line 648 of file planning_scene.h.
typedef boost::shared_ptr<CollisionDetector> planning_scene::PlanningScene::CollisionDetectorPtr [private] |
Definition at line 617 of file planning_scene.h.
| planning_scene::PlanningScene::PlanningScene | ( | const robot_model::RobotModelPtr & | robot_model, |
| collision_detection::WorldPtr | world = collision_detection::WorldPtr(new collision_detection::World()) |
||
| ) |
construct using an existing RobotModel
Definition at line 118 of file planning_scene.cpp.
| planning_scene::PlanningScene::PlanningScene | ( | const boost::shared_ptr< const urdf::ModelInterface > & | urdf_model, |
| const boost::shared_ptr< const srdf::Model > & | srdf_model, | ||
| collision_detection::WorldPtr | world = collision_detection::WorldPtr(new collision_detection::World()) |
||
| ) |
construct using a urdf and srdf. A RobotModel for the PlanningScene will be created using the urdf and srdf.
Definition at line 127 of file planning_scene.cpp.
Definition at line 146 of file planning_scene.cpp.
| planning_scene::PlanningScene::PlanningScene | ( | const PlanningSceneConstPtr & | parent | ) | [private] |
Definition at line 185 of file planning_scene.cpp.
| void planning_scene::PlanningScene::addCollisionDetector | ( | const collision_detection::CollisionDetectorAllocatorPtr & | allocator | ) |
Add a new collision detector type.
A collision detector type is specified with (a shared pointer to) an allocator which is a subclass of CollisionDetectorAllocator. This identifies a combination of CollisionWorld/CollisionRobot which can ve used together.
This does nothing if this type of collision detector has already been added.
A new PlanningScene contains an FCL collision detector. This FCL collision detector will always be available unless it is removed by calling setActiveCollisionDetector() with exclusive=true.
example: to add FCL collision detection (normally not necessary) call planning_scene->addCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create());
Definition at line 282 of file planning_scene.cpp.
| void planning_scene::PlanningScene::allocateCollisionDetectors | ( | ) | [private] |
| void planning_scene::PlanningScene::allocateCollisionDetectors | ( | CollisionDetector & | detector | ) | [private] |
| void planning_scene::PlanningScene::checkCollision | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res | ||
| ) | const |
Check whether the current state is in collision.
Definition at line 527 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkCollision | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res, | ||
| const robot_state::RobotState & | kstate | ||
| ) | const |
Check whether a specified state (kstate) is in collision.
Definition at line 537 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkCollision | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res, | ||
| const robot_state::RobotState & | kstate, | ||
| const collision_detection::AllowedCollisionMatrix & | acm | ||
| ) | const |
Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm)
Definition at line 557 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkCollisionUnpadded | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res | ||
| ) | const |
Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding.
Definition at line 570 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkCollisionUnpadded | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res, | ||
| const robot_state::RobotState & | kstate | ||
| ) | const |
Check whether a specified state (kstate) is in collision, but use a collision_detection::CollisionRobot instance that has no padding.
Definition at line 576 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkCollisionUnpadded | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res, | ||
| const robot_state::RobotState & | kstate, | ||
| const collision_detection::AllowedCollisionMatrix & | acm | ||
| ) | const |
Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding.
Definition at line 583 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkSelfCollision | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res | ||
| ) | const |
Check whether the current state is in self collision.
Definition at line 532 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkSelfCollision | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res, | ||
| const robot_state::RobotState & | kstate | ||
| ) | const |
Check whether a specified state (kstate) is in self collision.
Definition at line 550 of file planning_scene.cpp.
| void planning_scene::PlanningScene::checkSelfCollision | ( | const collision_detection::CollisionRequest & | req, |
| collision_detection::CollisionResult & | res, | ||
| const robot_state::RobotState & | kstate, | ||
| const collision_detection::AllowedCollisionMatrix & | acm | ||
| ) | const |
Check whether a specified state (kstate) is in self collision, with respect to a given allowed collision matrix (acm)
Definition at line 598 of file planning_scene.cpp.
Clear the diffs accumulated for this planning scene, with respect to the parent. This function is a no-op if there is no parent specified.
Definition at line 418 of file planning_scene.cpp.
| planning_scene::PlanningScenePtr planning_scene::PlanningScene::clone | ( | const PlanningSceneConstPtr & | scene | ) | [static] |
Clone a planning scene. Even if the scene scene depends on a parent, the cloned scene will not.
Definition at line 228 of file planning_scene.cpp.
| robot_model::RobotModelPtr planning_scene::PlanningScene::createRobotModel | ( | const boost::shared_ptr< const urdf::ModelInterface > & | urdf_model, |
| const boost::shared_ptr< const srdf::Model > & | srdf_model | ||
| ) | [static, private] |
Definition at line 175 of file planning_scene.cpp.
Make sure that all the data maintained in this scene is local. All unmodified data is copied from the parent and the pointer to the parent is discarded.
Definition at line 1106 of file planning_scene.cpp.
Return a new child PlanningScene that uses this one as parent.
The child scene has its own copy of the world. It maintains a list (in world_diff_) of changes made to the child world.
The kmodel_, kstate_, ftf_, and acm_ are not copied. They are shared with the parent. So if changes to these are made in the parent they will be visible in the child. But if any of these is modified (i.e. if the get*NonConst functions are called) in the child then a copy is made and subsequent changes to the corresponding member of the parent will no longer be visible in the child.
Definition at line 236 of file planning_scene.cpp.
| planning_scene::PlanningScenePtr planning_scene::PlanningScene::diff | ( | const moveit_msgs::PlanningScene & | msg | ) | const |
Return a new child PlanningScene that uses this one as parent and has the diffs specified by msg applied.
Definition at line 241 of file planning_scene.cpp.
| double planning_scene::PlanningScene::distanceToCollision | ( | const robot_state::RobotState & | kstate | ) | const |
The distance between the robot model at state kstate to the nearest collision.
Definition at line 517 of file planning_scene.cpp.
| double planning_scene::PlanningScene::distanceToCollision | ( | const robot_state::RobotState & | kstate, |
| const collision_detection::AllowedCollisionMatrix & | acm | ||
| ) | const |
The distance between the robot model at state kstate to the nearest collision, ignoring distances between elements that always allowed to collide.
Definition at line 522 of file planning_scene.cpp.
| double planning_scene::PlanningScene::distanceToCollisionUnpadded | ( | const robot_state::RobotState & | kstate | ) | const |
The distance between the robot model at state kstate to the nearest collision, if the robot has no padding.
Definition at line 507 of file planning_scene.cpp.
| double planning_scene::PlanningScene::distanceToCollisionUnpadded | ( | const robot_state::RobotState & | kstate, |
| const collision_detection::AllowedCollisionMatrix & | acm | ||
| ) | const |
The distance between the robot model at state kstate to the nearest collision, ignoring distances between elements that always allowed to collide, if the robot has no padding.
Definition at line 512 of file planning_scene.cpp.
| const std::string& planning_scene::PlanningScene::getActiveCollisionDetectorName | ( | ) | const [inline] |
Definition at line 157 of file planning_scene.h.
| const collision_detection::AllowedCollisionMatrix& planning_scene::PlanningScene::getAllowedCollisionMatrix | ( | ) | const [inline] |
Get the allowed collision matrix.
Definition at line 217 of file planning_scene.h.
| collision_detection::AllowedCollisionMatrix & planning_scene::PlanningScene::getAllowedCollisionMatrixNonConst | ( | ) |
Get the allowed collision matrix.
Definition at line 684 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCollidingLinks | ( | std::vector< std::string > & | links | ) | const |
Get the names of the links that are involved in collisions for the current state.
Definition at line 607 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCollidingLinks | ( | std::vector< std::string > & | links, |
| const robot_state::RobotState & | kstate | ||
| ) | const |
Get the names of the links that are involved in collisions for the state kstate.
Definition at line 613 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCollidingLinks | ( | std::vector< std::string > & | links, |
| const robot_state::RobotState & | kstate, | ||
| const collision_detection::AllowedCollisionMatrix & | acm | ||
| ) | const |
Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm)
Definition at line 620 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCollisionDetectorNames | ( | std::vector< std::string > & | names | ) | const |
get the types of collision detector that have already been added. These are the types which can be passed to setActiveCollisionDetector().
Definition at line 364 of file planning_scene.cpp.
| const collision_detection::CollisionRobotConstPtr& planning_scene::PlanningScene::getCollisionRobot | ( | ) | const [inline] |
Get the active collision detector for the robot.
Definition at line 269 of file planning_scene.h.
| const collision_detection::CollisionRobotConstPtr & planning_scene::PlanningScene::getCollisionRobot | ( | const std::string & | collision_detector_name | ) | const |
Get a specific collision detector for the padded robot. If no found return active CollisionRobot.
Definition at line 387 of file planning_scene.cpp.
| const collision_detection::CollisionRobotPtr & planning_scene::PlanningScene::getCollisionRobotNonConst | ( | ) |
Get the representation of the collision robot This can be used to set padding and link scale on the active collision_robot. NOTE: After modifying padding and scale on the active robot call propogateRobotPadding() to copy it to all the other collision detectors.
Definition at line 641 of file planning_scene.cpp.
| const collision_detection::CollisionRobotConstPtr& planning_scene::PlanningScene::getCollisionRobotUnpadded | ( | ) | const [inline] |
Get the active collision detector for the robot.
Definition at line 275 of file planning_scene.h.
| const collision_detection::CollisionRobotConstPtr & planning_scene::PlanningScene::getCollisionRobotUnpadded | ( | const std::string & | collision_detector_name | ) | const |
Get a specific collision detector for the unpadded robot. If no found return active unpadded CollisionRobot.
Definition at line 402 of file planning_scene.cpp.
| const collision_detection::CollisionWorldConstPtr& planning_scene::PlanningScene::getCollisionWorld | ( | ) | const [inline] |
Get the active collision detector for the world.
Definition at line 262 of file planning_scene.h.
| const collision_detection::CollisionWorldConstPtr & planning_scene::PlanningScene::getCollisionWorld | ( | const std::string & | collision_detector_name | ) | const |
Get a specific collision detector for the world. If not found return active CollisionWorld.
Definition at line 372 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCostSources | ( | const robot_trajectory::RobotTrajectory & | trajectory, |
| std::size_t | max_costs, | ||
| std::set< collision_detection::CostSource > & | costs, | ||
| double | overlap_fraction = 0.9 |
||
| ) | const |
Get the top max_costs cost sources for a specified trajectory. The resulting costs are stored in costs.
Definition at line 2130 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCostSources | ( | const robot_trajectory::RobotTrajectory & | trajectory, |
| std::size_t | max_costs, | ||
| const std::string & | group_name, | ||
| std::set< collision_detection::CostSource > & | costs, | ||
| double | overlap_fraction = 0.9 |
||
| ) | const |
Get the top max_costs cost sources for a specified trajectory, but only for group group_name. The resulting costs are stored in costs.
Definition at line 2137 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCostSources | ( | const robot_state::RobotState & | state, |
| std::size_t | max_costs, | ||
| std::set< collision_detection::CostSource > & | costs | ||
| ) | const |
Get the top max_costs cost sources for a specified state. The resulting costs are stored in costs.
Definition at line 2171 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getCostSources | ( | const robot_state::RobotState & | state, |
| std::size_t | max_costs, | ||
| const std::string & | group_name, | ||
| std::set< collision_detection::CostSource > & | costs | ||
| ) | const |
Get the top max_costs cost sources for a specified state, but only for group group_name. The resulting costs are stored in costs.
Definition at line 2177 of file planning_scene.cpp.
| const robot_state::RobotState& planning_scene::PlanningScene::getCurrentState | ( | ) | const [inline] |
Get the state at which the robot is assumed to be.
Definition at line 205 of file planning_scene.h.
Get the state at which the robot is assumed to be.
Definition at line 651 of file planning_scene.cpp.
| robot_state::RobotStatePtr planning_scene::PlanningScene::getCurrentStateUpdated | ( | const moveit_msgs::RobotState & | update | ) | const |
Get a copy of the current state with components overwritten by the state message update.
Definition at line 661 of file planning_scene.cpp.
| const Eigen::Affine3d & planning_scene::PlanningScene::getFrameTransform | ( | const std::string & | id | ) | const |
Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.
Definition at line 1755 of file planning_scene.cpp.
| const Eigen::Affine3d & planning_scene::PlanningScene::getFrameTransform | ( | const robot_state::RobotState & | state, |
| const std::string & | id | ||
| ) | const |
Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.
Definition at line 1760 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getKnownObjectColors | ( | ObjectColorMap & | kc | ) | const |
Definition at line 1872 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getKnownObjectTypes | ( | ObjectTypeMap & | kc | ) | const |
Definition at line 1838 of file planning_scene.cpp.
| const MotionFeasibilityFn& planning_scene::PlanningScene::getMotionFeasibilityPredicate | ( | ) | const [inline] |
Get the predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.
Definition at line 474 of file planning_scene.h.
| const std::string& planning_scene::PlanningScene::getName | ( | ) | const [inline] |
Get the name of the planning scene. This is empty by default.
Definition at line 107 of file planning_scene.h.
| const std_msgs::ColorRGBA & planning_scene::PlanningScene::getObjectColor | ( | const std::string & | id | ) | const |
Definition at line 1858 of file planning_scene.cpp.
| const object_recognition_msgs::ObjectType & planning_scene::PlanningScene::getObjectType | ( | const std::string & | id | ) | const |
Definition at line 1810 of file planning_scene.cpp.
| const PlanningSceneConstPtr& planning_scene::PlanningScene::getParent | ( | ) | const [inline] |
Get the parent scene (whith respect to which the diffs are maintained). This may be empty.
Definition at line 185 of file planning_scene.h.
| const std::string& planning_scene::PlanningScene::getPlanningFrame | ( | ) | const [inline] |
Get the frame in which planning is performed.
Definition at line 191 of file planning_scene.h.
| void planning_scene::PlanningScene::getPlanningSceneDiffMsg | ( | moveit_msgs::PlanningScene & | scene | ) | const |
Fill the message scene with the differences between this instance of PlanningScene with respect to the parent. If there is no parent, everything is considered to be a diff and the function behaves like getPlanningSceneMsg()
Definition at line 701 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getPlanningSceneMsg | ( | moveit_msgs::PlanningScene & | scene | ) | const |
Construct a message (scene) with all the necessary data so that the scene can be later reconstructed to be exactly the same using setPlanningSceneMsg()
Definition at line 901 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getPlanningSceneMsg | ( | moveit_msgs::PlanningScene & | scene, |
| const moveit_msgs::PlanningSceneComponents & | comp | ||
| ) | const |
Construct a message (scene) with the data requested in comp. If all options in comp are filled, this will be a complete planning scene message.
Definition at line 940 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getPlanningSceneMsgCollisionMap | ( | moveit_msgs::PlanningScene & | scene | ) | const [private] |
Definition at line 859 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getPlanningSceneMsgCollisionObject | ( | moveit_msgs::PlanningScene & | scene, |
| const std::string & | ns | ||
| ) | const [private] |
Definition at line 821 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getPlanningSceneMsgCollisionObjects | ( | moveit_msgs::PlanningScene & | scene | ) | const [private] |
Definition at line 850 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getPlanningSceneMsgObjectColors | ( | moveit_msgs::PlanningScene & | scene_msg | ) | const [private] |
Definition at line 925 of file planning_scene.cpp.
| void planning_scene::PlanningScene::getPlanningSceneMsgOctomap | ( | moveit_msgs::PlanningScene & | scene | ) | const [private] |
Definition at line 882 of file planning_scene.cpp.
| const robot_model::RobotModelConstPtr& planning_scene::PlanningScene::getRobotModel | ( | ) | const [inline] |
Get the kinematic model for which the planning scene is maintained.
Definition at line 198 of file planning_scene.h.
| const StateFeasibilityFn& planning_scene::PlanningScene::getStateFeasibilityPredicate | ( | ) | const [inline] |
Get the predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.
Definition at line 462 of file planning_scene.h.
| const robot_state::Transforms& planning_scene::PlanningScene::getTransforms | ( | ) | const [inline] |
Get the set of fixed transforms from known frames to the planning frame.
Definition at line 225 of file planning_scene.h.
Get the set of fixed transforms from known frames to the planning frame.
Definition at line 691 of file planning_scene.cpp.
| const collision_detection::WorldConstPtr& planning_scene::PlanningScene::getWorld | ( | ) | const [inline] |
Get the representation of the world.
Definition at line 248 of file planning_scene.h.
| const collision_detection::WorldPtr& planning_scene::PlanningScene::getWorldNonConst | ( | ) | [inline] |
Definition at line 255 of file planning_scene.h.
| bool planning_scene::PlanningScene::hasObjectColor | ( | const std::string & | id | ) | const |
Definition at line 1848 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::hasObjectType | ( | const std::string & | id | ) | const |
Definition at line 1800 of file planning_scene.cpp.
| void planning_scene::PlanningScene::initialize | ( | ) | [private] |
Definition at line 152 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isEmpty | ( | const moveit_msgs::PlanningScene & | msg | ) | [static] |
Check if a message includes any information about a planning scene, or it is just a default, empty message.
Definition at line 102 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isEmpty | ( | const moveit_msgs::PlanningSceneWorld & | msg | ) | [static] |
Check if a message includes any information about a planning scene world, or it is just a default, empty message.
Definition at line 113 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isEmpty | ( | const moveit_msgs::RobotState & | msg | ) | [static] |
Check if a message includes any information about a robot state, or it is just a default, empty message.
Definition at line 108 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const moveit_msgs::RobotState & | start_state, |
| const moveit_msgs::RobotTrajectory & | trajectory, | ||
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility)
Definition at line 2002 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const moveit_msgs::RobotState & | start_state, |
| const moveit_msgs::RobotTrajectory & | trajectory, | ||
| const moveit_msgs::Constraints & | path_constraints, | ||
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory.
Definition at line 2012 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const moveit_msgs::RobotState & | start_state, |
| const moveit_msgs::RobotTrajectory & | trajectory, | ||
| const moveit_msgs::Constraints & | path_constraints, | ||
| const moveit_msgs::Constraints & | goal_constraints, | ||
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory.
Definition at line 2022 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const moveit_msgs::RobotState & | start_state, |
| const moveit_msgs::RobotTrajectory & | trajectory, | ||
| const moveit_msgs::Constraints & | path_constraints, | ||
| const std::vector< moveit_msgs::Constraints > & | goal_constraints, | ||
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory.
Definition at line 2033 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const robot_trajectory::RobotTrajectory & | trajectory, |
| const moveit_msgs::Constraints & | path_constraints, | ||
| const std::vector< moveit_msgs::Constraints > & | goal_constraints, | ||
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory.
Definition at line 2047 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const robot_trajectory::RobotTrajectory & | trajectory, |
| const moveit_msgs::Constraints & | path_constraints, | ||
| const moveit_msgs::Constraints & | goal_constraints, | ||
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory.
Definition at line 2105 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const robot_trajectory::RobotTrajectory & | trajectory, |
| const moveit_msgs::Constraints & | path_constraints, | ||
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction).
Definition at line 2114 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isPathValid | ( | const robot_trajectory::RobotTrajectory & | trajectory, |
| const std::string & | group = "", |
||
| bool | verbose = false, |
||
| std::vector< std::size_t > * | invalid_index = NULL |
||
| ) | const |
Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility)
Definition at line 2122 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateColliding | ( | const std::string & | group = "", |
| bool | verbose = false |
||
| ) | const |
Check if the current state is in collision (with the environment or self collision)
Definition at line 1902 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateColliding | ( | const moveit_msgs::RobotState & | state, |
| const std::string & | group = "", |
||
| bool | verbose = false |
||
| ) | const |
Check if a given state is in collision (with the environment or self collision)
Definition at line 1895 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateColliding | ( | const robot_state::RobotState & | state, |
| const std::string & | group = "", |
||
| bool | verbose = false |
||
| ) | const |
Check if a given state is in collision (with the environment or self collision)
Definition at line 1907 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateConstrained | ( | const moveit_msgs::RobotState & | state, |
| const moveit_msgs::Constraints & | constr, | ||
| bool | verbose = false |
||
| ) | const |
Check if a given state satisfies a set of constraints.
Definition at line 1935 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateConstrained | ( | const robot_state::RobotState & | state, |
| const moveit_msgs::Constraints & | constr, | ||
| bool | verbose = false |
||
| ) | const |
Check if a given state satisfies a set of constraints.
Definition at line 1943 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateConstrained | ( | const moveit_msgs::RobotState & | state, |
| const kinematic_constraints::KinematicConstraintSet & | constr, | ||
| bool | verbose = false |
||
| ) | const |
Check if a given state satisfies a set of constraints.
Definition at line 1953 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateConstrained | ( | const robot_state::RobotState & | state, |
| const kinematic_constraints::KinematicConstraintSet & | constr, | ||
| bool | verbose = false |
||
| ) | const |
Check if a given state satisfies a set of constraints.
Definition at line 1960 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateFeasible | ( | const moveit_msgs::RobotState & | state, |
| bool | verbose = false |
||
| ) | const |
Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified.
Definition at line 1917 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateFeasible | ( | const robot_state::RobotState & | state, |
| bool | verbose = false |
||
| ) | const |
Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified.
Definition at line 1928 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateValid | ( | const moveit_msgs::RobotState & | state, |
| const std::string & | group = "", |
||
| bool | verbose = false |
||
| ) | const |
Check if a given state is valid. This means checking for collisions and feasibility.
Definition at line 1971 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateValid | ( | const robot_state::RobotState & | state, |
| const std::string & | group = "", |
||
| bool | verbose = false |
||
| ) | const |
Check if a given state is valid. This means checking for collisions and feasibility.
Definition at line 1965 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateValid | ( | const moveit_msgs::RobotState & | state, |
| const moveit_msgs::Constraints & | constr, | ||
| const std::string & | group = "", |
||
| bool | verbose = false |
||
| ) | const |
Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well.
Definition at line 1977 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateValid | ( | const robot_state::RobotState & | state, |
| const moveit_msgs::Constraints & | constr, | ||
| const std::string & | group = "", |
||
| bool | verbose = false |
||
| ) | const |
Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well.
Definition at line 1984 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::isStateValid | ( | const robot_state::RobotState & | state, |
| const kinematic_constraints::KinematicConstraintSet & | constr, | ||
| const std::string & | group = "", |
||
| bool | verbose = false |
||
| ) | const |
Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well.
Definition at line 1993 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::knowsFrameTransform | ( | const std::string & | id | ) | const |
Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.
Definition at line 1781 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::knowsFrameTransform | ( | const robot_state::RobotState & | state, |
| const std::string & | id | ||
| ) | const |
Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.
Definition at line 1786 of file planning_scene.cpp.
| void planning_scene::PlanningScene::loadGeometryFromStream | ( | std::istream & | in | ) |
Load the geometry of the planning scene from a stream.
Definition at line 1026 of file planning_scene.cpp.
| void planning_scene::PlanningScene::printKnownObjects | ( | std::ostream & | out | ) | const |
Outputs debug information about the planning scene contents.
Definition at line 2189 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::processAttachedCollisionObjectMsg | ( | const moveit_msgs::AttachedCollisionObject & | object | ) |
Definition at line 1386 of file planning_scene.cpp.
| void planning_scene::PlanningScene::processCollisionMapMsg | ( | const moveit_msgs::CollisionMap & | map | ) |
Definition at line 1286 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::processCollisionObjectMsg | ( | const moveit_msgs::CollisionObject & | object | ) |
Definition at line 1612 of file planning_scene.cpp.
| void planning_scene::PlanningScene::processOctomapMsg | ( | const octomap_msgs::OctomapWithPose & | map | ) |
Definition at line 1329 of file planning_scene.cpp.
| void planning_scene::PlanningScene::processOctomapMsg | ( | const octomap_msgs::Octomap & | map | ) |
Definition at line 1303 of file planning_scene.cpp.
| void planning_scene::PlanningScene::processOctomapPtr | ( | const boost::shared_ptr< const octomap::OcTree > & | octree, |
| const Eigen::Affine3d & | t | ||
| ) |
Definition at line 1351 of file planning_scene.cpp.
| void planning_scene::PlanningScene::processPlanningSceneWorldMsg | ( | const moveit_msgs::PlanningSceneWorld & | world | ) |
Definition at line 1270 of file planning_scene.cpp.
Copy scale and padding from active CollisionRobot to other CollisionRobots. This should be called after any changes are made to the scale or padding of the active CollisionRobot. This has no effect on the unpadded CollisionRobots.
Definition at line 260 of file planning_scene.cpp.
| void planning_scene::PlanningScene::pushDiffs | ( | const PlanningScenePtr & | scene | ) |
If there is a parent specified for this scene, then the diffs with respect to that parent are applied to a specified planning scene, whatever that scene may be. If there is no parent specified, this function is a no-op.
Definition at line 462 of file planning_scene.cpp.
| void planning_scene::PlanningScene::removeObjectColor | ( | const std::string & | id | ) |
Definition at line 1889 of file planning_scene.cpp.
| void planning_scene::PlanningScene::removeObjectType | ( | const std::string & | id | ) |
Definition at line 1832 of file planning_scene.cpp.
| void planning_scene::PlanningScene::saveGeometryToStream | ( | std::ostream & | out | ) | const |
Save the geometry of the planning scene to a stream, as plain text.
Definition at line 995 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setActiveCollisionDetector | ( | const collision_detection::CollisionDetectorAllocatorPtr & | allocator, |
| bool | exclusive = false |
||
| ) |
Set the type of collision detector to use. Calls addCollisionDetector() to add it if it has not already been added.
If exclusive is true then all other collision detectors will be removed and only this one will be available.
example: to use FCL collision call planning_scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create());
Definition at line 321 of file planning_scene.cpp.
| bool planning_scene::PlanningScene::setActiveCollisionDetector | ( | const std::string & | collision_detector_name | ) |
Set the type of collision detector to use. This type must have already been added with addCollisionDetector().
Returns true on success, false if collision_detector_name is not the name of a collision detector that has been previously added with addCollisionDetector().
Definition at line 347 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setAttachedBodyUpdateCallback | ( | const robot_state::AttachedBodyCallback & | callback | ) |
Set the callback to be triggered when changes are made to the current scene state.
Definition at line 668 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setCollisionObjectUpdateCallback | ( | const collision_detection::World::ObserverCallbackFn & | callback | ) |
Set the callback to be triggered when changes are made to the current scene world.
Definition at line 675 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setCurrentState | ( | const moveit_msgs::RobotState & | state | ) |
Set the current robot state to be state. If not all joint values are specified, the previously maintained joint values are kept.
Definition at line 1071 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setCurrentState | ( | const robot_state::RobotState & | state | ) |
Set the current robot state.
Definition at line 1101 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setMotionFeasibilityPredicate | ( | const MotionFeasibilityFn & | fn | ) | [inline] |
Specify a predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.
Definition at line 468 of file planning_scene.h.
| void planning_scene::PlanningScene::setName | ( | const std::string & | name | ) | [inline] |
Set the name of the planning scene.
Definition at line 113 of file planning_scene.h.
| void planning_scene::PlanningScene::setObjectColor | ( | const std::string & | id, |
| const std_msgs::ColorRGBA & | color | ||
| ) |
Definition at line 1882 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setObjectType | ( | const std::string & | id, |
| const object_recognition_msgs::ObjectType & | type | ||
| ) |
Definition at line 1825 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setPlanningSceneDiffMsg | ( | const moveit_msgs::PlanningScene & | scene | ) |
Apply changes to this planning scene as diffs, even if the message itself is not marked as being a diff (is_diff member). A parent is not required to exist. However, the existing data in the planning instance is not cleared. Data from the message is only appended (and in cases such as e.g., the robot state, is overwritten).
Definition at line 1175 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setPlanningSceneMsg | ( | const moveit_msgs::PlanningScene & | scene | ) |
Set this instance of a planning scene to be the same as the one serialized in the scene message, even if the message itself is marked as being a diff (is_diff member)
Definition at line 1238 of file planning_scene.cpp.
| void planning_scene::PlanningScene::setStateFeasibilityPredicate | ( | const StateFeasibilityFn & | fn | ) | [inline] |
Specify a predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. This is useful for setting up problem specific constraints (e.g., stability)
Definition at line 456 of file planning_scene.h.
| void planning_scene::PlanningScene::usePlanningSceneMsg | ( | const moveit_msgs::PlanningScene & | scene | ) |
Call setPlanningSceneMsg() or setPlanningSceneDiffMsg() depending on how the is_diff member of the message is set.
Definition at line 1278 of file planning_scene.cpp.
friend struct CollisionDetector [friend] |
Definition at line 646 of file planning_scene.h.
Definition at line 676 of file planning_scene.h.
Definition at line 674 of file planning_scene.h.
std::map<std::string, CollisionDetectorPtr> planning_scene::PlanningScene::collision_ [private] |
Definition at line 673 of file planning_scene.h.
const std::string planning_scene::PlanningScene::COLLISION_MAP_NS = "<collision_map>" [static] |
Definition at line 100 of file planning_scene.h.
robot_state::AttachedBodyCallback planning_scene::PlanningScene::current_state_attached_body_callback_ [private] |
Definition at line 663 of file planning_scene.h.
collision_detection::World::ObserverCallbackFn planning_scene::PlanningScene::current_world_object_update_callback_ [private] |
Definition at line 670 of file planning_scene.h.
collision_detection::World::ObserverHandle planning_scene::PlanningScene::current_world_object_update_observer_handle_ [private] |
Definition at line 671 of file planning_scene.h.
const std::string planning_scene::PlanningScene::DEFAULT_SCENE_NAME = "(noname)" [static] |
Definition at line 102 of file planning_scene.h.
robot_state::TransformsPtr planning_scene::PlanningScene::ftf_ [private] |
Definition at line 665 of file planning_scene.h.
Definition at line 660 of file planning_scene.h.
Definition at line 662 of file planning_scene.h.
Definition at line 679 of file planning_scene.h.
std::string planning_scene::PlanningScene::name_ [private] |
Definition at line 656 of file planning_scene.h.
boost::scoped_ptr<ObjectColorMap> planning_scene::PlanningScene::object_colors_ [private] |
Definition at line 681 of file planning_scene.h.
boost::scoped_ptr<ObjectTypeMap> planning_scene::PlanningScene::object_types_ [private] |
Definition at line 684 of file planning_scene.h.
const std::string planning_scene::PlanningScene::OCTOMAP_NS = "<octomap>" [static] |
Definition at line 101 of file planning_scene.h.
Definition at line 658 of file planning_scene.h.
Definition at line 678 of file planning_scene.h.
Definition at line 667 of file planning_scene.h.
Definition at line 668 of file planning_scene.h.
Definition at line 669 of file planning_scene.h.