Moveit Plugin for Planning with Standart Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inherting from PlanningContextLoader. More...

#include <pilz_command_planner.h>

Inheritance diagram for pilz::CommandPlanner:

[legend]

Public Member Functions
virtual bool	canServiceRequest (const planning_interface::MotionPlanRequest &req) const override
	Checks if the request can be handled. More...

virtual std::string	getDescription () const override
	Description of the planner. More...

virtual void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
	Returns the available planning commands. More...

virtual planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const override
	Returns a PlanningContext that can be used to solve(calculate) the trajectory that corresponds to command given in motion request as planner_id. More...

virtual bool	initialize (const robot_model::RobotModelConstPtr &model, const std::string &ns) override
	Initializes the planner Upon initialization this planner will look for plugins implementing pilz::PlanningContextLoader. More...

void	registerContextLoader (const pilz::PlanningContextLoaderPtr &planning_context_loader)
	Register a PlanningContextLoader to be used by the CommandPlanner. More...

virtual	~CommandPlanner ()

Public Member Functions inherited from planning_interface::PlannerManager
const PlannerConfigurationMap &	getPlannerConfigurations () const

PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const

	PlannerManager ()

virtual void	setPlannerConfigurations (const PlannerConfigurationMap &pcs)

void	terminate () const

virtual	~PlannerManager ()

Private Attributes
pilz::JointLimitsContainer	aggregated_limit_active_joints_
	aggregated limits of the active joints More...

pilz::CartesianLimit	cartesian_limit_
	cartesian limit More...

std::map< std::string, pilz::PlanningContextLoaderPtr >	context_loader_map_
	Mapping from command to loader. More...

moveit::core::RobotModelConstPtr	model_
	Robot model obtained at initialize. More...

std::string	namespace_
	Namespace where the parameters are stored, obtained at initialize. More...

boost::scoped_ptr< pluginlib::ClassLoader< PlanningContextLoader > >	planner_context_loader
	Plugin loader. More...

Additional Inherited Members
Protected Attributes inherited from planning_interface::PlannerManager
PlannerConfigurationMap	config_settings_

Detailed Description

Moveit Plugin for Planning with Standart Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inherting from PlanningContextLoader.

Definition at line 42 of file pilz_command_planner.h.

Constructor & Destructor Documentation

virtual pilz::CommandPlanner::~CommandPlanner ( )

inlinevirtual

Definition at line 45 of file pilz_command_planner.h.

Member Function Documentation

bool pilz::CommandPlanner::canServiceRequest ( const planning_interface::MotionPlanRequest & req ) const

overridevirtual

Checks if the request can be handled.

Parameters

motion request containing the planning_id that corresponds to the motion command

Returns: true if the request can be handled

Implements planning_interface::PlannerManager.

Definition at line 134 of file pilz_command_planner.cpp.

std::string pilz::CommandPlanner::getDescription ( ) const

overridevirtual

Description of the planner.

Reimplemented from planning_interface::PlannerManager.

Definition at line 89 of file pilz_command_planner.cpp.

void pilz::CommandPlanner::getPlanningAlgorithms ( std::vector< std::string > & algs ) const

overridevirtual

Returns the available planning commands.

Parameters

list	with the planning algorithms

Note: behined each command is a pilz::PlanningContextLoader loaded as plugin

Reimplemented from planning_interface::PlannerManager.

Definition at line 94 of file pilz_command_planner.cpp.

planning_interface::PlanningContextPtr pilz::CommandPlanner::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const

overridevirtual

Returns a PlanningContext that can be used to solve(calculate) the trajectory that corresponds to command given in motion request as planner_id.

Parameters

planning_scene
req
error_code

Returns

Implements planning_interface::PlannerManager.

Definition at line 104 of file pilz_command_planner.cpp.

bool pilz::CommandPlanner::initialize	(	const robot_model::RobotModelConstPtr &	model,
		const std::string &	ns
	)

overridevirtual

Initializes the planner Upon initialization this planner will look for plugins implementing pilz::PlanningContextLoader.

Parameters

model	The robot model
ns	The namespace

Returns: true on success, false otherwise

Reimplemented from planning_interface::PlannerManager.

Definition at line 38 of file pilz_command_planner.cpp.

void pilz::CommandPlanner::registerContextLoader ( const pilz::PlanningContextLoaderPtr & planning_context_loader )

Register a PlanningContextLoader to be used by the CommandPlanner.

Parameters

planning_context_loader

Exceptions

ContextLoaderRegistrationException if a loader with the same algorithm name is already registered

Definition at line 139 of file pilz_command_planner.cpp.

Member Data Documentation

pilz::JointLimitsContainer pilz::CommandPlanner::aggregated_limit_active_joints_

private

aggregated limits of the active joints

Definition at line 108 of file pilz_command_planner.h.

pilz::CartesianLimit pilz::CommandPlanner::cartesian_limit_

private

cartesian limit

Definition at line 111 of file pilz_command_planner.h.

std::map<std::string, pilz::PlanningContextLoaderPtr> pilz::CommandPlanner::context_loader_map_

private

Mapping from command to loader.

Definition at line 99 of file pilz_command_planner.h.

moveit::core::RobotModelConstPtr pilz::CommandPlanner::model_

private

Robot model obtained at initialize.

Definition at line 102 of file pilz_command_planner.h.

std::string pilz::CommandPlanner::namespace_

private

Namespace where the parameters are stored, obtained at initialize.

Definition at line 105 of file pilz_command_planner.h.

boost::scoped_ptr<pluginlib::ClassLoader<PlanningContextLoader> > pilz::CommandPlanner::planner_context_loader

private

Plugin loader.

Definition at line 96 of file pilz_command_planner.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation