Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
ompl_interface::ModelBasedPlanningContext Class Reference

#include <model_based_planning_context.h>

Inheritance diagram for ompl_interface::ModelBasedPlanningContext:
Inheritance graph
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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 ModelBasedPlanningContextSpecificationgetSpecification () 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. More...
 
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 ()
 
- Public Member Functions inherited from planning_interface::PlanningContext
const std::string & getGroupName () const
 
const MotionPlanRequestgetMotionPlanRequest () const
 
const std::string & getName () const
 
const planning_scene::PlanningSceneConstPtr & getPlanningScene () const
 
 PlanningContext (const std::string &name, const std::string &group)
 
void setMotionPlanRequest (const MotionPlanRequest &request)
 
void setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
 
virtual ~PlanningContext ()
 

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 More...
 
double last_simplify_time_
 the time spent simplifying the last plan More...
 
unsigned int max_goal_samples_
 
unsigned int max_goal_sampling_attempts_
 maximum number of attempts to be made at sampling a goal states More...
 
unsigned int max_planning_threads_
 when planning in parallel, this is the maximum number of threads to use at one time More...
 
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 More...
 
ot::ParallelPlan ompl_parallel_plan_
 tool used to compute multiple plans in parallel; this uses the problem definition maintained by ompl_simple_setup_ More...
 
og::SimpleSetupPtr ompl_simple_setup_
 the OMPL planning context; this contains the problem definition and the planner used More...
 
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_
 
- Protected Attributes inherited from planning_interface::PlanningContext
std::string group_
 
std::string name_
 
planning_scene::PlanningSceneConstPtr planning_scene_
 
MotionPlanRequest request_
 

Detailed Description

Definition at line 79 of file model_based_planning_context.h.

Constructor & Destructor Documentation

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

Definition at line 62 of file model_based_planning_context.cpp.

virtual ompl_interface::ModelBasedPlanningContext::~ModelBasedPlanningContext ( )
inlinevirtual

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
protectedvirtual

Definition at line 151 of file model_based_planning_context.cpp.

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

Definition at line 450 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::clear ( void  )
virtual
void ompl_interface::ModelBasedPlanningContext::configure ( )
virtual

Definition at line 198 of file model_based_planning_context.cpp.

ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal ( )
protectedvirtual

Definition at line 363 of file model_based_planning_context.cpp.

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

Definition at line 337 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 287 of file model_based_planning_context.h.

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

Definition at line 293 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
protectedvirtual

Definition at line 101 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 348 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 327 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::postSolve ( )
protected

Definition at line 499 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::preSolve ( )
protected

Definition at line 488 of file model_based_planning_context.cpp.

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

Definition at line 665 of file model_based_planning_context.cpp.

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

Definition at line 389 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 418 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 407 of file model_based_planning_context.cpp.

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

Definition at line 306 of file model_based_planning_context.cpp.

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

Definition at line 88 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 357 of file model_based_planning_context.cpp.

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

Definition at line 321 of file model_based_planning_context.cpp.

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

Definition at line 262 of file model_based_planning_context.h.

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

Definition at line 267 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanResponse res)
virtual
bool ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse res)
virtual
bool ompl_interface::ModelBasedPlanningContext::solve ( double  timeout,
unsigned int  count 
)

Definition at line 585 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::startSampling ( )
protected

Definition at line 468 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::stopSampling ( )
protected

Definition at line 478 of file model_based_planning_context.cpp.

bool ompl_interface::ModelBasedPlanningContext::terminate ( )
virtual
void ompl_interface::ModelBasedPlanningContext::unregisterTerminationCondition ( )
protected

Definition at line 671 of file model_based_planning_context.cpp.

void ompl_interface::ModelBasedPlanningContext::useConfig ( )
protectedvirtual

Definition at line 222 of file model_based_planning_context.cpp.

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

Definition at line 252 of file model_based_planning_context.h.

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

Definition at line 257 of file model_based_planning_context.h.

Member Data Documentation

robot_state::RobotState ompl_interface::ModelBasedPlanningContext::complete_initial_robot_state_
protected

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.

double ompl_interface::ModelBasedPlanningContext::last_plan_time_
protected

the time spent computing the last plan

Definition at line 350 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 353 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 357 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 371 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 375 of file model_based_planning_context.h.

ot::Benchmark ompl_interface::ModelBasedPlanningContext::ompl_benchmark_
protected

the OMPL tool for benchmarking planners

Definition at line 335 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 338 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 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.

moveit_msgs::Constraints ompl_interface::ModelBasedPlanningContext::path_constraints_msg_
protected

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.

boost::mutex ompl_interface::ModelBasedPlanningContext::ptc_lock_
protected

Definition at line 347 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::simplify_solutions_
protected

Definition at line 379 of file model_based_planning_context.h.

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

Definition at line 340 of file model_based_planning_context.h.

ModelBasedPlanningContextSpecification ompl_interface::ModelBasedPlanningContext::spec_
protected

Definition at line 327 of file model_based_planning_context.h.

bool ompl_interface::ModelBasedPlanningContext::use_state_validity_cache_
protected

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 Sun Jan 21 2018 03:55:31