#include <model_based_planning_context.h>

Inheritance diagram for ompl_interface::ModelBasedPlanningContext:

Public Member Functions
bool	benchmark (double timeout, unsigned int count, const std::string &filename="")
virtual void	clear ()
virtual void	configure ()
void	convertPath (const og::PathGeometric &pg, robot_trajectory::RobotTrajectory &traj) const
const robot_state::RobotState &	getCompleteInitialRobotState () const
const constraint_samplers::ConstraintSamplerManagerPtr &	getConstraintSamplerManager ()
const robot_model::JointModelGroup *	getJointModelGroup () const
double	getLastPlanTime () const
double	getLastSimplifyTime () const
unsigned int	getMaximumGoalSamples () const
unsigned int	getMaximumGoalSamplingAttempts () const
unsigned int	getMaximumPlanningThreads () const
double	getMaximumSolutionSegmentLength () const
unsigned int	getMaximumStateSamplingAttempts () const
unsigned int	getMinimumWaypointCount () const
const ot::Benchmark &	getOMPLBenchmark () const
ot::Benchmark &	getOMPLBenchmark ()
const og::SimpleSetupPtr &	getOMPLSimpleSetup () const
og::SimpleSetupPtr &	getOMPLSimpleSetup ()
const ModelBasedStateSpacePtr &	getOMPLStateSpace () const
const kinematic_constraints::KinematicConstraintSetPtr &	getPathConstraints () const
const robot_model::RobotModelConstPtr &	getRobotModel () const
bool	getSolutionPath (robot_trajectory::RobotTrajectory &traj) const
const ModelBasedPlanningContextSpecification &	getSpecification () const
const std::map< std::string, std::string > &	getSpecificationConfig () const
void	interpolateSolution ()
	ModelBasedPlanningContext (const std::string &name, const ModelBasedPlanningContextSpecification &spec)
void	setCompleteInitialState (const robot_state::RobotState &complete_initial_robot_state)
void	setConstraintSamplerManager (const constraint_samplers::ConstraintSamplerManagerPtr &csm)
void	setConstraintsApproximations (const ConstraintsLibraryConstPtr &constraints_library)
bool	setGoalConstraints (const std::vector< moveit_msgs::Constraints > &goal_constraints, const moveit_msgs::Constraints &path_constraints, moveit_msgs::MoveItErrorCodes *error)
void	setMaximumGoalSamples (unsigned int max_goal_samples)
void	setMaximumGoalSamplingAttempts (unsigned int max_goal_sampling_attempts)
void	setMaximumPlanningThreads (unsigned int max_planning_threads)
void	setMaximumSolutionSegmentLength (double mssl)
void	setMaximumStateSamplingAttempts (unsigned int max_state_sampling_attempts)
void	setMinimumWaypointCount (unsigned int mwc)
	Get the minimum number of waypoints along the solution path.
bool	setPathConstraints (const moveit_msgs::Constraints &path_constraints, moveit_msgs::MoveItErrorCodes *error)
void	setPlanningVolume (const moveit_msgs::WorkspaceParameters &wparams)
void	setProjectionEvaluator (const std::string &peval)
void	setSpecificationConfig (const std::map< std::string, std::string > &config)
void	setVerboseStateValidityChecks (bool flag)
void	simplifySolution (double timeout)
bool	simplifySolutions () const
void	simplifySolutions (bool flag)
virtual bool	solve (planning_interface::MotionPlanResponse &res)
virtual bool	solve (planning_interface::MotionPlanDetailedResponse &res)
bool	solve (double timeout, unsigned int count)
virtual bool	terminate ()
bool	useStateValidityCache () const
void	useStateValidityCache (bool flag)
virtual	~ModelBasedPlanningContext ()
Protected Member Functions
virtual ob::StateSamplerPtr	allocPathConstrainedSampler (const ompl::base::StateSpace *ss) const
virtual ob::GoalPtr	constructGoal ()
virtual ob::ProjectionEvaluatorPtr	getProjectionEvaluator (const std::string &peval) const
void	postSolve ()
void	preSolve ()
void	registerTerminationCondition (const ob::PlannerTerminationCondition &ptc)
void	startSampling ()
void	stopSampling ()
void	unregisterTerminationCondition ()
virtual void	useConfig ()
Protected Attributes
robot_state::RobotState	complete_initial_robot_state_
std::vector < kinematic_constraints::KinematicConstraintSetPtr >	goal_constraints_
double	last_plan_time_
	the time spent computing the last plan
double	last_simplify_time_
	the time spent simplifying the last plan
unsigned int	max_goal_samples_
	maximum number of valid states to store in the goal region for any planning request (when such sampling is possible)
unsigned int	max_goal_sampling_attempts_
	maximum number of attempts to be made at sampling a goal states
unsigned int	max_planning_threads_
	when planning in parallel, this is the maximum number of threads to use at one time
double	max_solution_segment_length_
	the maximum length that is allowed for segments that make up the motion plan; by default this is 1% from the extent of the space
unsigned int	max_state_sampling_attempts_
	maximum number of attempts to be made at sampling a state when attempting to find valid states that satisfy some set of constraints
unsigned int	minimum_waypoint_count_
	the minimum number of points to include on the solution path (interpolation is used to reach this number, if needed)
ot::Benchmark	ompl_benchmark_
	the OMPL tool for benchmarking planners
ot::ParallelPlan	ompl_parallel_plan_
	tool used to compute multiple plans in parallel; this uses the problem definition maintained by ompl_simple_setup_
og::SimpleSetupPtr	ompl_simple_setup_
	the OMPL planning context; this contains the problem definition and the planner used
kinematic_constraints::KinematicConstraintSetPtr	path_constraints_
moveit_msgs::Constraints	path_constraints_msg_
const ob::PlannerTerminationCondition *	ptc_
boost::mutex	ptc_lock_
bool	simplify_solutions_
std::vector< int >	space_signature_
ModelBasedPlanningContextSpecification	spec_
bool	use_state_validity_cache_

Detailed Description

Definition at line 78 of file model_based_planning_context.h.

Constructor & Destructor Documentation

ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext	(	const std::string &	name,
		const ModelBasedPlanningContextSpecification &	spec
	)

Definition at line 54 of file model_based_planning_context.cpp.

virtual ompl_interface::ModelBasedPlanningContext::~ModelBasedPlanningContext ( ) [inline, virtual]

Definition at line 84 of file model_based_planning_context.h.

Member Function Documentation

ompl::base::StateSamplerPtr ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler ( const ompl::base::StateSpace * ss ) const [protected, virtual]

Definition at line 135 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::benchmark	(	double	timeout,
		unsigned int	count,
		const std::string &	filename = `""`
	)

Definition at line 382 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::clear ( void ) [virtual]

Implements planning_interface::PlanningContext.

Definition at line 329 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::configure ( ) [virtual]

Definition at line 179 of file model_based_planning_context.cpp.

ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal ( ) [protected, virtual]

Definition at line 299 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::convertPath	(	const og::PathGeometric &	pg,
		robot_trajectory::RobotTrajectory &	traj
	)		const

Definition at line 274 of file model_based_planning_context.cpp.

const robot_state::RobotState& ompl_interface::ModelBasedPlanningContext::getCompleteInitialRobotState ( ) const [inline]

Definition at line 119 of file model_based_planning_context.h.

const constraint_samplers::ConstraintSamplerManagerPtr& ompl_interface::ModelBasedPlanningContext::getConstraintSamplerManager ( ) [inline]

Definition at line 225 of file model_based_planning_context.h.

const robot_model::JointModelGroup* ompl_interface::ModelBasedPlanningContext::getJointModelGroup ( ) const [inline]

Definition at line 114 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::getLastPlanTime ( ) const [inline]

Definition at line 288 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::getLastSimplifyTime ( ) const [inline]

Definition at line 294 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumGoalSamples ( ) const [inline]

Definition at line 179 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumGoalSamplingAttempts ( ) const [inline]

Definition at line 167 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumPlanningThreads ( ) const [inline]

Definition at line 191 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::getMaximumSolutionSegmentLength ( ) const [inline]

Definition at line 203 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumStateSamplingAttempts ( ) const [inline]

Definition at line 155 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::getMinimumWaypointCount ( ) const [inline]

Definition at line 214 of file model_based_planning_context.h.

const ot::Benchmark& ompl_interface::ModelBasedPlanningContext::getOMPLBenchmark ( ) const [inline]

Definition at line 139 of file model_based_planning_context.h.

ot::Benchmark& ompl_interface::ModelBasedPlanningContext::getOMPLBenchmark ( ) [inline]

Definition at line 144 of file model_based_planning_context.h.

const og::SimpleSetupPtr& ompl_interface::ModelBasedPlanningContext::getOMPLSimpleSetup ( ) const [inline]

Definition at line 129 of file model_based_planning_context.h.

og::SimpleSetupPtr& ompl_interface::ModelBasedPlanningContext::getOMPLSimpleSetup ( ) [inline]

Definition at line 134 of file model_based_planning_context.h.

const ModelBasedStateSpacePtr& ompl_interface::ModelBasedPlanningContext::getOMPLStateSpace ( ) const [inline]

Definition at line 124 of file model_based_planning_context.h.

const kinematic_constraints::KinematicConstraintSetPtr& ompl_interface::ModelBasedPlanningContext::getPathConstraints ( ) const [inline]

Definition at line 149 of file model_based_planning_context.h.

ompl::base::ProjectionEvaluatorPtr ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator ( const std::string & peval ) const [protected, virtual]

Definition at line 89 of file model_based_planning_context.cpp.

const robot_model::RobotModelConstPtr& ompl_interface::ModelBasedPlanningContext::getRobotModel ( ) const [inline]

Definition at line 109 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::getSolutionPath ( robot_trajectory::RobotTrajectory & traj ) const

Definition at line 284 of file model_based_planning_context.cpp.

const ModelBasedPlanningContextSpecification& ompl_interface::ModelBasedPlanningContext::getSpecification ( ) const [inline]

Definition at line 94 of file model_based_planning_context.h.

const std::map<std::string, std::string>& ompl_interface::ModelBasedPlanningContext::getSpecificationConfig ( ) const [inline]

Definition at line 99 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::interpolateSolution ( )

Definition at line 265 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::postSolve ( ) [protected]

Definition at line 430 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::preSolve ( ) [protected]

Definition at line 419 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::registerTerminationCondition ( const ob::PlannerTerminationCondition & ptc ) [protected]

Definition at line 593 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setCompleteInitialState ( const robot_state::RobotState & complete_initial_robot_state )

Definition at line 324 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setConstraintSamplerManager ( const constraint_samplers::ConstraintSamplerManagerPtr & csm ) [inline]

Definition at line 230 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setConstraintsApproximations ( const ConstraintsLibraryConstPtr & constraints_library ) [inline]

Definition at line 249 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::setGoalConstraints	(	const std::vector< moveit_msgs::Constraints > &	goal_constraints,
		const moveit_msgs::Constraints &	path_constraints,
		moveit_msgs::MoveItErrorCodes *	error
	)

Definition at line 351 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setMaximumGoalSamples ( unsigned int max_goal_samples ) [inline]

Definition at line 185 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumGoalSamplingAttempts ( unsigned int max_goal_sampling_attempts ) [inline]

Definition at line 173 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumPlanningThreads ( unsigned int max_planning_threads ) [inline]

Definition at line 197 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumSolutionSegmentLength ( double mssl ) [inline]

Definition at line 209 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMaximumStateSamplingAttempts ( unsigned int max_state_sampling_attempts ) [inline]

Definition at line 161 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setMinimumWaypointCount ( unsigned int mwc ) [inline]

Get the minimum number of waypoints along the solution path.

Definition at line 220 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::setPathConstraints	(	const moveit_msgs::Constraints &	path_constraints,
		moveit_msgs::MoveItErrorCodes *	error
	)

Definition at line 340 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setPlanningVolume ( const moveit_msgs::WorkspaceParameters & wparams )

Definition at line 244 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setProjectionEvaluator ( const std::string & peval )

Definition at line 77 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::setSpecificationConfig ( const std::map< std::string, std::string > & config ) [inline]

Definition at line 104 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::setVerboseStateValidityChecks ( bool flag )

Definition at line 293 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::simplifySolution ( double timeout )

Definition at line 259 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::simplifySolutions ( ) const [inline]

Definition at line 264 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::simplifySolutions ( bool flag ) [inline]

Definition at line 269 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanResponse & res ) [virtual]

Implements planning_interface::PlanningContext.

Definition at line 441 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse & res ) [virtual]

Implements planning_interface::PlanningContext.

Definition at line 470 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::solve	(	double	timeout,
		unsigned int	count
	)

Definition at line 516 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::startSampling ( ) [protected]

Definition at line 399 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::stopSampling ( ) [protected]

Definition at line 409 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::terminate ( ) [virtual]

Implements planning_interface::PlanningContext.

Definition at line 605 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::unregisterTerminationCondition ( ) [protected]

Definition at line 599 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::useConfig ( ) [protected, virtual]

Definition at line 202 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::useStateValidityCache ( ) const [inline]

Definition at line 254 of file model_based_planning_context.h.

void ompl_interface::ModelBasedPlanningContext::useStateValidityCache ( bool flag ) [inline]

Definition at line 259 of file model_based_planning_context.h.

Member Data Documentation

robot_state::RobotState ompl_interface::ModelBasedPlanningContext::complete_initial_robot_state_ [protected]

Definition at line 331 of file model_based_planning_context.h.

std::vector<kinematic_constraints::KinematicConstraintSetPtr> ompl_interface::ModelBasedPlanningContext::goal_constraints_ [protected]

Definition at line 346 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::last_plan_time_ [protected]

the time spent computing the last plan

Definition at line 352 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::last_simplify_time_ [protected]

the time spent simplifying the last plan

Definition at line 355 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_goal_samples_ [protected]

maximum number of valid states to store in the goal region for any planning request (when such sampling is possible)

Definition at line 358 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_goal_sampling_attempts_ [protected]

maximum number of attempts to be made at sampling a goal states

Definition at line 364 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_planning_threads_ [protected]

when planning in parallel, this is the maximum number of threads to use at one time

Definition at line 367 of file model_based_planning_context.h.

double ompl_interface::ModelBasedPlanningContext::max_solution_segment_length_ [protected]

the maximum length that is allowed for segments that make up the motion plan; by default this is 1% from the extent of the space

Definition at line 370 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::max_state_sampling_attempts_ [protected]

maximum number of attempts to be made at sampling a state when attempting to find valid states that satisfy some set of constraints

Definition at line 361 of file model_based_planning_context.h.

unsigned int ompl_interface::ModelBasedPlanningContext::minimum_waypoint_count_ [protected]

the minimum number of points to include on the solution path (interpolation is used to reach this number, if needed)

Definition at line 373 of file model_based_planning_context.h.

ot::Benchmark ompl_interface::ModelBasedPlanningContext::ompl_benchmark_ [protected]

the OMPL tool for benchmarking planners

Definition at line 337 of file model_based_planning_context.h.

ot::ParallelPlan ompl_interface::ModelBasedPlanningContext::ompl_parallel_plan_ [protected]

tool used to compute multiple plans in parallel; this uses the problem definition maintained by ompl_simple_setup_

Definition at line 340 of file model_based_planning_context.h.

og::SimpleSetupPtr ompl_interface::ModelBasedPlanningContext::ompl_simple_setup_ [protected]

the OMPL planning context; this contains the problem definition and the planner used

Definition at line 334 of file model_based_planning_context.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ModelBasedPlanningContext::path_constraints_ [protected]

Definition at line 344 of file model_based_planning_context.h.

moveit_msgs::Constraints ompl_interface::ModelBasedPlanningContext::path_constraints_msg_ [protected]

Definition at line 345 of file model_based_planning_context.h.

const ob::PlannerTerminationCondition* ompl_interface::ModelBasedPlanningContext::ptc_ [protected]

Definition at line 348 of file model_based_planning_context.h.

boost::mutex ompl_interface::ModelBasedPlanningContext::ptc_lock_ [protected]

Definition at line 349 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::simplify_solutions_ [protected]

Definition at line 377 of file model_based_planning_context.h.

std::vector<int> ompl_interface::ModelBasedPlanningContext::space_signature_ [protected]

Definition at line 342 of file model_based_planning_context.h.

ModelBasedPlanningContextSpecification ompl_interface::ModelBasedPlanningContext::spec_ [protected]

Definition at line 329 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::use_state_validity_cache_ [protected]

Definition at line 375 of file model_based_planning_context.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation