ompl_ros_interface::OmplRosJointPlanner Class Reference

A joint planner - this is the planner that most applications will use. More...

#include <ompl_ros_joint_planner.h>

Inheritance diagram for ompl_ros_interface::OmplRosJointPlanner:

List of all members.

Public Member Functions
	OmplRosJointPlanner ()
	~OmplRosJointPlanner ()
Protected Member Functions
virtual arm_navigation_msgs::RobotTrajectory	getSolutionPath ()
	Returns the solution path.
virtual bool	initializePlanningStateSpace (ompl::base::StateSpacePtr &state_space)
	Initialize the planning state space.
virtual bool	initializeStateValidityChecker (ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker)
	Initialize the state validity checker.
virtual bool	isRequestValid (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
	Returns whether the motion planning request is valid.
virtual bool	setGoal (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
	Set the goal state(s)
virtual bool	setStart (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
	Set the start state(s)
Private Member Functions
bool	setJointGoal (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
bool	setPoseGoal (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
Private Attributes
std::string	end_effector_name_
ompl_ros_interface::OmplRosIKSampler	ik_sampler_
bool	ik_sampler_available_
ompl_ros_interface::KinematicStateToOmplStateMapping	kinematic_state_to_ompl_state_mapping_
std::string	kinematics_solver_name_
ompl_ros_interface::OmplStateToKinematicStateMapping	ompl_state_to_kinematic_state_mapping_
ompl_ros_interface::OmplStateToRobotStateMapping	ompl_state_to_robot_state_mapping_
arm_navigation_msgs::RobotState	robot_state_
ompl_ros_interface::RobotStateToOmplStateMapping	robot_state_to_ompl_state_mapping_

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Detailed Description

A joint planner - this is the planner that most applications will use.

Definition at line 54 of file ompl_ros_joint_planner.h.

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Constructor & Destructor Documentation

ompl_ros_interface::OmplRosJointPlanner::OmplRosJointPlanner

(

)

[inline]

Definition at line 58 of file ompl_ros_joint_planner.h.

ompl_ros_interface::OmplRosJointPlanner::~OmplRosJointPlanner

(

)

[inline]

Definition at line 59 of file ompl_ros_joint_planner.h.

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Member Function Documentation

arm_navigation_msgs::RobotTrajectory ompl_ros_interface::OmplRosJointPlanner::getSolutionPath

(

)

[protected, virtual]

Returns the solution path.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 245 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::initializePlanningStateSpace

(

ompl::base::StateSpacePtr &

state_space

)

[protected, virtual]

Initialize the planning state space.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 42 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::initializeStateValidityChecker

(

ompl_ros_interface::OmplRosStateValidityCheckerPtr &

state_validity_checker

)

[protected, virtual]

Initialize the state validity checker.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 237 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::isRequestValid	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)		[protected, virtual]

Returns whether the motion planning request is valid.

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 75 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setGoal	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)		[protected, virtual]

Set the goal state(s)

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 121 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setJointGoal	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)		[private]

Definition at line 174 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setPoseGoal	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)		[private]

Definition at line 221 of file ompl_ros_joint_planner.cpp.

bool ompl_ros_interface::OmplRosJointPlanner::setStart	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)		[protected, virtual]

Set the start state(s)

Implements ompl_ros_interface::OmplRosPlanningGroup.

Definition at line 145 of file ompl_ros_joint_planner.cpp.

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Member Data Documentation

std::string ompl_ros_interface::OmplRosJointPlanner::end_effector_name_ [private]

Definition at line 115 of file ompl_ros_joint_planner.h.

ompl_ros_interface::OmplRosIKSampler ompl_ros_interface::OmplRosJointPlanner::ik_sampler_ [private]

Definition at line 117 of file ompl_ros_joint_planner.h.

bool ompl_ros_interface::OmplRosJointPlanner::ik_sampler_available_ [private]

Definition at line 119 of file ompl_ros_joint_planner.h.

ompl_ros_interface::KinematicStateToOmplStateMapping ompl_ros_interface::OmplRosJointPlanner::kinematic_state_to_ompl_state_mapping_ [private]

Definition at line 105 of file ompl_ros_joint_planner.h.

std::string ompl_ros_interface::OmplRosJointPlanner::kinematics_solver_name_ [private]

Definition at line 113 of file ompl_ros_joint_planner.h.

ompl_ros_interface::OmplStateToKinematicStateMapping ompl_ros_interface::OmplRosJointPlanner::ompl_state_to_kinematic_state_mapping_ [private]

Definition at line 104 of file ompl_ros_joint_planner.h.

ompl_ros_interface::OmplStateToRobotStateMapping ompl_ros_interface::OmplRosJointPlanner::ompl_state_to_robot_state_mapping_ [private]

Definition at line 100 of file ompl_ros_joint_planner.h.

arm_navigation_msgs::RobotState ompl_ros_interface::OmplRosJointPlanner::robot_state_ [private]

Definition at line 99 of file ompl_ros_joint_planner.h.

ompl_ros_interface::RobotStateToOmplStateMapping ompl_ros_interface::OmplRosJointPlanner::robot_state_to_ompl_state_mapping_ [private]

Definition at line 101 of file ompl_ros_joint_planner.h.

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

• ompl_ros_joint_planner.h
• ompl_ros_joint_planner.cpp