The MoveIt interface to OMPL. More...

Classes
class	ConstrainedGoalSampler
class	ConstrainedSampler
struct	ConstraintApproximation
struct	ConstraintApproximationConstructionOptions
struct	ConstraintApproximationConstructionResults
class	ConstraintApproximationStateSampler
class	ConstraintsLibrary
class	GoalSampleableRegionMux
class	JointModelStateSpace
class	JointModelStateSpaceFactory
class	ModelBasedJointStateSpace
class	ModelBasedPlanningContext
struct	ModelBasedPlanningContextSpecification
class	ModelBasedStateSpace
class	ModelBasedStateSpaceFactory
struct	ModelBasedStateSpaceSpecification
class	OMPLInterface
class	OMPLInterfaceROS
class	OMPLPlannerManager
class	PlanningContextManager
class	PoseModelStateSpace
class	PoseModelStateSpaceFactory
class	ProjectionEvaluatorJointValue
class	ProjectionEvaluatorLinkPose
class	StateValidityChecker
	An interface for a OMPL state validity checker. More...
class	TSStateStorage
class	ValidConstrainedSampler
class	WrappedStateSampler
Typedefs
typedef boost::function < ob::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name, const ModelBasedPlanningContextSpecification &spec)>	ConfiguredPlannerAllocator
typedef boost::function < ConfiguredPlannerAllocator(const std::string &planner_type)>	ConfiguredPlannerSelector
typedef std::pair< std::vector < std::size_t >, std::map < std::size_t, std::pair < std::size_t, std::size_t > > >	ConstrainedStateMetadata
typedef boost::shared_ptr < const ConstraintApproximation >	ConstraintApproximationConstPtr
typedef boost::shared_ptr < ConstraintApproximation >	ConstraintApproximationPtr
typedef boost::shared_ptr < std::vector < ConstraintApproximation > >	ConstraintApproximationsPtr
typedef ompl::base::StateStorageWithMetadata < ConstrainedStateMetadata >	ConstraintApproximationStateStorage
typedef boost::shared_ptr < const ConstraintsLibrary >	ConstraintsLibraryConstPtr
typedef boost::shared_ptr < ConstraintsLibrary >	ConstraintsLibraryPtr
typedef boost::function< bool(const ompl::base::State , const ompl::base::State )	ConstraintStateStorageOrderFn )
typedef boost::function < double(const ompl::base::State state1, const ompl::base::State state2)	DistanceFunction )
typedef boost::function< bool(const ompl::base::State from, const ompl::base::State to, const double t, ompl::base::State *state)	InterpolationFunction )
typedef boost::shared_ptr < ModelBasedStateSpaceFactory >	ModelBasedStateSpaceFactoryPtr
typedef boost::shared_ptr < ModelBasedStateSpace >	ModelBasedStateSpacePtr
typedef boost::shared_ptr < const ValidConstrainedSampler >	ValidConstrainedSamplerConstPtr
typedef boost::shared_ptr < ValidConstrainedSampler >	ValidConstrainedSamplerPtr
Functions
ompl::base::StateSamplerPtr	allocConstraintApproximationStateSampler (const ob::StateSpace space, const std::vector< int > &expected_signature, const ConstraintApproximationStateStorage state_storage, std::size_t milestones)
bool	interpolateUsingStoredStates (const ConstraintApproximationStateStorage state_storage, const ob::State from, const ob::State to, const double t, ob::State state)
	MOVEIT_CLASS_FORWARD (ModelBasedPlanningContext)
	MOVEIT_CLASS_FORWARD (ConstraintsLibrary)

Detailed Description

The MoveIt interface to OMPL.

Typedef Documentation

typedef boost::function<ob::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name, const ModelBasedPlanningContextSpecification &spec)> ompl_interface::ConfiguredPlannerAllocator

Definition at line 61 of file model_based_planning_context.h.

typedef boost::function<ConfiguredPlannerAllocator(const std::string &planner_type)> ompl_interface::ConfiguredPlannerSelector

Definition at line 64 of file model_based_planning_context.h.

typedef std::pair<std::vector<std::size_t>, std::map<std::size_t, std::pair<std::size_t, std::size_t> > > ompl_interface::ConstrainedStateMetadata

Definition at line 49 of file constraints_library.h.

typedef boost::shared_ptr<const ConstraintApproximation> ompl_interface::ConstraintApproximationConstPtr

Definition at line 54 of file constraints_library.h.

typedef boost::shared_ptr<ConstraintApproximation> ompl_interface::ConstraintApproximationPtr

Definition at line 52 of file constraints_library.h.

typedef boost::shared_ptr<std::vector<ConstraintApproximation> > ompl_interface::ConstraintApproximationsPtr

Definition at line 74 of file constraint_approximations.h.

typedef ompl::base::StateStorageWithMetadata< std::vector< std::size_t > > ompl_interface::ConstraintApproximationStateStorage

Definition at line 50 of file constraints_library.h.

typedef boost::shared_ptr<const ConstraintsLibrary> ompl_interface::ConstraintsLibraryConstPtr

Definition at line 208 of file constraints_library.h.

typedef boost::shared_ptr<ConstraintsLibrary> ompl_interface::ConstraintsLibraryPtr

Definition at line 207 of file constraints_library.h.

typedef boost::function<bool(const ompl::base::State*, const ompl::base::State*) ompl_interface::ConstraintStateStorageOrderFn)

Definition at line 50 of file constraint_approximations.h.

typedef boost::function<double(const ompl::base::State *state1, const ompl::base::State *state2) ompl_interface::DistanceFunction)

Definition at line 48 of file model_based_state_space.h.

typedef boost::function<bool(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) ompl_interface::InterpolationFunction)

Definition at line 47 of file model_based_state_space.h.

typedef boost::shared_ptr<ModelBasedStateSpaceFactory> ompl_interface::ModelBasedStateSpaceFactoryPtr

Definition at line 46 of file model_based_state_space_factory.h.

typedef boost::shared_ptr<ModelBasedStateSpace> ompl_interface::ModelBasedStateSpacePtr

Definition at line 264 of file model_based_state_space.h.

typedef boost::shared_ptr<const ValidConstrainedSampler> ompl_interface::ValidConstrainedSamplerConstPtr

Definition at line 75 of file constrained_valid_state_sampler.h.

typedef boost::shared_ptr<ValidConstrainedSampler> ompl_interface::ValidConstrainedSamplerPtr

Definition at line 74 of file constrained_valid_state_sampler.h.

Function Documentation

ompl::base::StateSamplerPtr ompl_interface::allocConstraintApproximationStateSampler	(	const ob::StateSpace *	space,
		const std::vector< int > &	expected_signature,
		const ConstraintApproximationStateStorage *	state_storage,
		std::size_t	milestones
	)

Definition at line 190 of file constraints_library.cpp.

bool ompl_interface::interpolateUsingStoredStates	(	const ConstraintApproximationStateStorage *	state_storage,
		const ob::State *	from,
		const ob::State *	to,
		const double	t,
		ob::State *	state
	)

Definition at line 149 of file constraints_library.cpp.

ompl_interface::MOVEIT_CLASS_FORWARD ( ModelBasedPlanningContext )

ompl_interface::MOVEIT_CLASS_FORWARD ( ConstraintsLibrary )

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

Function Documentation