ompl_ros_interface::OmplRosPlanningGroup Class Reference

An instantiation of a particular planner for a specific group. More...

#include <ompl_ros_planning_group.h>

Inheritance diagram for ompl_ros_interface::OmplRosPlanningGroup:

List of all members.

Public Member Functions
bool	computePlan (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
std::string	getFrameId ()
std::string	getName ()
bool	initialize (const ros::NodeHandle &node_handle, const std::string &group_name, const std::string &planner_config_name, planning_environment::CollisionModelsInterface *cmi)
	Initialize the planning group from the param server.
	OmplRosPlanningGroup ()
Public Attributes
boost::shared_ptr < ompl::geometric::SimpleSetup >	planner_
	The underlying planner to be used for planning.
Protected Member Functions
bool	finish (const bool &result)
virtual arm_navigation_msgs::RobotTrajectory	getSolutionPath ()=0
	Returns the solution path.
virtual bool	initializePlanningStateSpace (ompl::base::StateSpacePtr &state_space)=0
	Initialize the planning state space. This function must allocate and instantiate a state space on which planning will take place.
virtual bool	initializeStateValidityChecker (ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker)=0
	Initialize the state validity checker. This function must allocate and instantiate a state validity checker.
virtual bool	isRequestValid (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)=0
bool	omplPathGeometricToRobotTrajectory (const ompl::geometric::PathGeometric &path, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
virtual bool	setGoal (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)=0
virtual bool	setStart (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)=0
Protected Attributes
planning_environment::CollisionModelsInterface *	collision_models_interface_
	the name of the group
std::string	group_name_
ros::NodeHandle	node_handle_
const planning_models::KinematicModel::JointModelGroup *	physical_joint_group_
	possibly abstract state
planning_models::KinematicState::JointStateGroup *	physical_joint_state_group_
	A pointer to the state in the kinematic state corresponding to this joint group.
ompl::base::StateSpacePtr	state_space_
	A pointer to an instance of the planning monitor.
ompl_ros_interface::OmplRosStateValidityCheckerPtr	state_validity_checker_
	A state validity checker.
Private Member Functions
bool	configureStateValidityChecker (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response, planning_models::KinematicState *kinematic_state)
bool	initializeBKPIECEPlanner ()
bool	initializeESTPlanner ()
bool	initializeKPIECEPlanner ()
bool	initializeLazyRRTPlanner ()
bool	initializeLBKPIECEPlanner ()
bool	initializePhysicalGroup ()
bool	initializePlanner ()
bool	initializeProjectionEvaluator ()
bool	initializepRRTPlanner ()
bool	initializepSBLPlanner ()
bool	initializeRRTConnectPlanner ()
bool	initializeRRTPlanner ()
bool	initializeRRTStarPlanner ()
bool	initializeSBLPlanner ()
bool	setStartAndGoalStates (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
bool	transformConstraints (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
Private Attributes
boost::scoped_ptr < planning_models::KinematicState >	kinematic_state_
ompl::base::PlannerPtr	ompl_planner_
boost::shared_ptr < ompl_ros_interface::PlannerConfig >	planner_config_
std::string	planner_config_name_

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Detailed Description

An instantiation of a particular planner for a specific group.

Definition at line 79 of file ompl_ros_planning_group.h.

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Constructor & Destructor Documentation

ompl_ros_interface::OmplRosPlanningGroup::OmplRosPlanningGroup

(

)

[inline]

Definition at line 83 of file ompl_ros_planning_group.h.

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Member Function Documentation

bool ompl_ros_interface::OmplRosPlanningGroup::computePlan	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)

Definition at line 399 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::configureStateValidityChecker	(	arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response,
		planning_models::KinematicState *	kinematic_state
	)		[private]

Definition at line 475 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::finish

(

const bool &

result

)

[protected]

Definition at line 467 of file ompl_ros_planning_group.cpp.

std::string ompl_ros_interface::OmplRosPlanningGroup::getFrameId

(

)

[inline]

Definition at line 108 of file ompl_ros_planning_group.h.

std::string ompl_ros_interface::OmplRosPlanningGroup::getName

(

void

)

[inline]

Definition at line 100 of file ompl_ros_planning_group.h.

virtual arm_navigation_msgs::RobotTrajectory ompl_ros_interface::OmplRosPlanningGroup::getSolutionPath

(

)

[protected, pure virtual]

Returns the solution path.

Implemented in ompl_ros_interface::OmplRosTaskSpacePlanner, ompl_ros_interface::OmplRosJointPlanner, and ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner.

bool ompl_ros_interface::OmplRosPlanningGroup::initialize	(	const ros::NodeHandle &	node_handle,
		const std::string &	group_name,
		const std::string &	planner_config_name,
		planning_environment::CollisionModelsInterface *	cmi
	)

Initialize the planning group from the param server.

Parameters:

param_server_prefix	The param server namespace from which all data can be accessed
group_name	The name of the group that this class will plan for
planner_config_name	The planner configuration that this class will use
planning_monitor	A copy of the planning monitor for this planner

Definition at line 42 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeBKPIECEPlanner

(

)

[private]

Definition at line 320 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeESTPlanner

(

)

[private]

Definition at line 246 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeKPIECEPlanner

(

)

[private]

Definition at line 292 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeLazyRRTPlanner

(

)

[private]

Definition at line 229 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeLBKPIECEPlanner

(

)

[private]

Definition at line 348 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializePhysicalGroup

(

)

[private]

Definition at line 83 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializePlanner

(

)

[private]

Definition at line 128 of file ompl_ros_planning_group.cpp.

virtual bool ompl_ros_interface::OmplRosPlanningGroup::initializePlanningStateSpace

(

ompl::base::StateSpacePtr &

state_space

)

[protected, pure virtual]

Initialize the planning state space. This function must allocate and instantiate a state space on which planning will take place.

Implemented in ompl_ros_interface::OmplRosJointPlanner, and ompl_ros_interface::OmplRosTaskSpacePlanner.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeProjectionEvaluator

(

)

[private]

Definition at line 105 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializepRRTPlanner

(

)

[private]

Definition at line 207 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializepSBLPlanner

(

)

[private]

Definition at line 275 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeRRTConnectPlanner

(

)

[private]

Definition at line 195 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeRRTPlanner

(

)

[private]

Definition at line 161 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeRRTStarPlanner

(

)

[private]

Definition at line 178 of file ompl_ros_planning_group.cpp.

bool ompl_ros_interface::OmplRosPlanningGroup::initializeSBLPlanner

(

)

[private]

Definition at line 263 of file ompl_ros_planning_group.cpp.

virtual bool ompl_ros_interface::OmplRosPlanningGroup::initializeStateValidityChecker

(

ompl_ros_interface::OmplRosStateValidityCheckerPtr &

state_validity_checker

)

[protected, pure virtual]

Initialize the state validity checker. This function must allocate and instantiate a state validity checker.

Implemented in ompl_ros_interface::OmplRosJointPlanner, ompl_ros_interface::OmplRosTaskSpacePlanner, and ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner.

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

Implemented in ompl_ros_interface::OmplRosJointPlanner, and ompl_ros_interface::OmplRosTaskSpacePlanner.

bool ompl_ros_interface::OmplRosPlanningGroup::omplPathGeometricToRobotTrajectory	(	const ompl::geometric::PathGeometric &	path,
		arm_navigation_msgs::RobotTrajectory &	robot_trajectory
	)		[protected]

Definition at line 389 of file ompl_ros_planning_group.cpp.

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

Implemented in ompl_ros_interface::OmplRosJointPlanner, and ompl_ros_interface::OmplRosTaskSpacePlanner.

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

Implemented in ompl_ros_interface::OmplRosJointPlanner, ompl_ros_interface::OmplRosTaskSpacePlanner, and ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner.

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

Definition at line 488 of file ompl_ros_planning_group.cpp.

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

Definition at line 370 of file ompl_ros_planning_group.cpp.

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Member Data Documentation

planning_environment::CollisionModelsInterface* ompl_ros_interface::OmplRosPlanningGroup::collision_models_interface_ [protected]

the name of the group

Definition at line 164 of file ompl_ros_planning_group.h.

std::string ompl_ros_interface::OmplRosPlanningGroup::group_name_ [protected]

Definition at line 162 of file ompl_ros_planning_group.h.

boost::scoped_ptr<planning_models::KinematicState> ompl_ros_interface::OmplRosPlanningGroup::kinematic_state_ [private]

Definition at line 201 of file ompl_ros_planning_group.h.

ros::NodeHandle ompl_ros_interface::OmplRosPlanningGroup::node_handle_ [protected]

Definition at line 190 of file ompl_ros_planning_group.h.

ompl::base::PlannerPtr ompl_ros_interface::OmplRosPlanningGroup::ompl_planner_ [private]

Definition at line 203 of file ompl_ros_planning_group.h.

const planning_models::KinematicModel::JointModelGroup* ompl_ros_interface::OmplRosPlanningGroup::physical_joint_group_ [protected]

possibly abstract state

The actual (physical) joint group that this state maps onto. In most cases, this will be an identity mapping but in some cases it will be through IK

Definition at line 172 of file ompl_ros_planning_group.h.

planning_models::KinematicState::JointStateGroup* ompl_ros_interface::OmplRosPlanningGroup::physical_joint_state_group_ [protected]

A pointer to the state in the kinematic state corresponding to this joint group.

Definition at line 177 of file ompl_ros_planning_group.h.

boost::shared_ptr<ompl::geometric::SimpleSetup> ompl_ros_interface::OmplRosPlanningGroup::planner_

The underlying planner to be used for planning.

Definition at line 124 of file ompl_ros_planning_group.h.

boost::shared_ptr<ompl_ros_interface::PlannerConfig> ompl_ros_interface::OmplRosPlanningGroup::planner_config_ [private]

Definition at line 198 of file ompl_ros_planning_group.h.

std::string ompl_ros_interface::OmplRosPlanningGroup::planner_config_name_ [private]

Definition at line 197 of file ompl_ros_planning_group.h.

ompl::base::StateSpacePtr ompl_ros_interface::OmplRosPlanningGroup::state_space_ [protected]

A pointer to an instance of the planning monitor.

Definition at line 166 of file ompl_ros_planning_group.h.

ompl_ros_interface::OmplRosStateValidityCheckerPtr ompl_ros_interface::OmplRosPlanningGroup::state_validity_checker_ [protected]

A state validity checker.

Definition at line 182 of file ompl_ros_planning_group.h.

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

• ompl_ros_planning_group.h
• ompl_ros_planning_group.cpp