Public Member Functions | Protected Member Functions | Protected Attributes
ompl_interface::ModelBasedPlanningContext Class Reference

#include <model_based_planning_context.h>

Inheritance diagram for ompl_interface::ModelBasedPlanningContext:
Inheritance graph
[legend]

List of all members.

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 ModelBasedStateSpacePtrgetOMPLStateSpace () 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_
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_
unsigned int max_state_sampling_attempts_
unsigned int minimum_waypoint_count_
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 79 of file model_based_planning_context.h.


Constructor & Destructor Documentation

Definition at line 60 of file model_based_planning_context.cpp.

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 149 of file model_based_planning_context.cpp.

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

Definition at line 448 of file model_based_planning_context.cpp.

Definition at line 196 of file model_based_planning_context.cpp.

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

Definition at line 361 of file model_based_planning_context.cpp.

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

Definition at line 335 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.

Definition at line 287 of file model_based_planning_context.h.

Definition at line 293 of file model_based_planning_context.h.

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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.

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.

Definition at line 134 of file model_based_planning_context.h.

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 99 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.

Definition at line 346 of file model_based_planning_context.cpp.

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.

Definition at line 325 of file model_based_planning_context.cpp.

Definition at line 497 of file model_based_planning_context.cpp.

Definition at line 486 of file model_based_planning_context.cpp.

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

Definition at line 663 of file model_based_planning_context.cpp.

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

Definition at line 387 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 247 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 416 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.

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.

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 405 of file model_based_planning_context.cpp.

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

Definition at line 304 of file model_based_planning_context.cpp.

Definition at line 86 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.

Definition at line 355 of file model_based_planning_context.cpp.

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Definition at line 262 of file model_based_planning_context.h.

Definition at line 267 of file model_based_planning_context.h.

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

Definition at line 583 of file model_based_planning_context.cpp.

Definition at line 466 of file model_based_planning_context.cpp.

Definition at line 476 of file model_based_planning_context.cpp.

Definition at line 669 of file model_based_planning_context.cpp.

Definition at line 220 of file model_based_planning_context.cpp.

Definition at line 252 of file model_based_planning_context.h.

Definition at line 257 of file model_based_planning_context.h.


Member Data Documentation

Definition at line 329 of file model_based_planning_context.h.

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

Definition at line 344 of file model_based_planning_context.h.

the time spent computing the last plan

Definition at line 350 of file model_based_planning_context.h.

the time spent simplifying the last plan

Definition at line 353 of file model_based_planning_context.h.

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

Definition at line 357 of file model_based_planning_context.h.

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

Definition at line 364 of file model_based_planning_context.h.

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.

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 371 of file model_based_planning_context.h.

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.

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

Definition at line 375 of file model_based_planning_context.h.

the OMPL tool for benchmarking planners

Definition at line 335 of file model_based_planning_context.h.

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

Definition at line 338 of file model_based_planning_context.h.

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

Definition at line 332 of file model_based_planning_context.h.

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

Definition at line 342 of file model_based_planning_context.h.

Definition at line 343 of file model_based_planning_context.h.

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

Definition at line 346 of file model_based_planning_context.h.

Definition at line 347 of file model_based_planning_context.h.

Definition at line 379 of file model_based_planning_context.h.

Definition at line 340 of file model_based_planning_context.h.

Definition at line 327 of file model_based_planning_context.h.

Definition at line 377 of file model_based_planning_context.h.


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


ompl
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:27