This class orchestrates the planning of single commands and command lists. More...

#include <command_list_manager.h>

Public Member Functions
	CommandListManager (const ros::NodeHandle &nh, const robot_model::RobotModelConstPtr &model)

RobotTrajCont	solve (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_pipeline::PlanningPipelinePtr &planning_pipeline, const pilz_msgs::MotionSequenceRequest &req_list)
	Generates trajectories for the specified list of motion commands. More...

Private Types
using	GroupNamesCont = std::vector< std::string >

using	MotionResponseCont = std::vector< planning_interface::MotionPlanResponse >

using	RadiiCont = std::vector< double >

using	RobotState_OptRef = boost::optional< const robot_state::RobotState & >

Private Member Functions
void	checkForOverlappingRadii (const MotionResponseCont &resp_cont, const RadiiCont &radii) const
	Validates that two consecutive blending radii do not overlap. More...

bool	checkRadiiForOverlap (const robot_trajectory::RobotTrajectory &traj_A, const double radii_A, const robot_trajectory::RobotTrajectory &traj_B, const double radii_B) const

MotionResponseCont	solveSequenceItems (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_pipeline::PlanningPipelinePtr &planning_pipeline, const pilz_msgs::MotionSequenceRequest &req_list) const
	Solve each sequence item individually. More...

Static Private Member Functions
static void	checkForNegativeRadii (const pilz_msgs::MotionSequenceRequest &req_list)
	Checks that all blend radii are greater or equal to zero. More...

static void	checkLastBlendRadiusZero (const pilz_msgs::MotionSequenceRequest &req_list)
	Checks that last blend radius is zero. More...

static void	checkStartStates (const pilz_msgs::MotionSequenceRequest &req_list)
	Checks that each group in the specified request list has only one start state. More...

static void	checkStartStatesOfGroup (const pilz_msgs::MotionSequenceRequest &req_list, const std::string &group_name)
	Checks that only the first request of the specified group has a start state in the specified request list. More...

static RadiiCont	extractBlendRadii (const moveit::core::RobotModel &model, const pilz_msgs::MotionSequenceRequest &req_list)

static GroupNamesCont	getGroupNames (const pilz_msgs::MotionSequenceRequest &req_list)

static RobotState_OptRef	getPreviousEndState (const MotionResponseCont &motion_plan_responses, const std::string &group_name)

static bool	isInvalidBlendRadii (const moveit::core::RobotModel &model, const pilz_msgs::MotionSequenceItem &item_A, const pilz_msgs::MotionSequenceItem &item_B)

static void	setStartState (const MotionResponseCont &motion_plan_responses, const std::string &group_name, moveit_msgs::RobotState &start_state)
	Set start state to end state of previous calculated trajectory from group. More...

Private Attributes
moveit::core::RobotModelConstPtr	model_
	Robot model. More...

ros::NodeHandle	nh_
	Node handle. More...

PlanComponentsBuilder	plan_comp_builder_
	Builder to construct the container containing the final trajectories. More...

Detailed Description

This class orchestrates the planning of single commands and command lists.

Definition at line 49 of file command_list_manager.h.

Member Typedef Documentation

using pilz_trajectory_generation::CommandListManager::GroupNamesCont = std::vector<std::string>

private

Definition at line 92 of file command_list_manager.h.

using pilz_trajectory_generation::CommandListManager::MotionResponseCont = std::vector<planning_interface::MotionPlanResponse>

private

Definition at line 89 of file command_list_manager.h.

using pilz_trajectory_generation::CommandListManager::RadiiCont = std::vector<double>

private

Definition at line 91 of file command_list_manager.h.

using pilz_trajectory_generation::CommandListManager::RobotState_OptRef = boost::optional<const robot_state::RobotState& >

private

Definition at line 90 of file command_list_manager.h.

Constructor & Destructor Documentation

pilz_trajectory_generation::CommandListManager::CommandListManager	(	const ros::NodeHandle &	nh,
		const robot_model::RobotModelConstPtr &	model
	)

Definition at line 39 of file command_list_manager.cpp.

Member Function Documentation

void pilz_trajectory_generation::CommandListManager::checkForNegativeRadii ( const pilz_msgs::MotionSequenceRequest & req_list )

staticprivate

Checks that all blend radii are greater or equal to zero.

Definition at line 232 of file command_list_manager.cpp.

void pilz_trajectory_generation::CommandListManager::checkForOverlappingRadii	(	const MotionResponseCont &	resp_cont,
		const RadiiCont &	radii
	)		const

private

Validates that two consecutive blending radii do not overlap.

Parameters

motion_plan_responses	Container of calculated/generated trajectories.
radii	Container stating the blend radii.

Definition at line 118 of file command_list_manager.cpp.

void pilz_trajectory_generation::CommandListManager::checkLastBlendRadiusZero ( const pilz_msgs::MotionSequenceRequest & req_list )

inlinestaticprivate

Checks that last blend radius is zero.

Definition at line 204 of file command_list_manager.h.

bool pilz_trajectory_generation::CommandListManager::checkRadiiForOverlap	(	const robot_trajectory::RobotTrajectory &	traj_A,
		const double	radii_A,
		const robot_trajectory::RobotTrajectory &	traj_B,
		const double	radii_B
	)		const

private

Returns: TRUE if the blending radii of specified trajectories overlap, otherwise FALSE. The functions returns FALSE if both trajectories are from different groups or if both trajectories are end-effector groups.

Definition at line 95 of file command_list_manager.cpp.

void pilz_trajectory_generation::CommandListManager::checkStartStates ( const pilz_msgs::MotionSequenceRequest & req_list )

staticprivate

Checks that each group in the specified request list has only one start state.

Definition at line 271 of file command_list_manager.cpp.

void pilz_trajectory_generation::CommandListManager::checkStartStatesOfGroup	(	const pilz_msgs::MotionSequenceRequest &	req_list,
		const std::string &	group_name
	)

staticprivate

Checks that only the first request of the specified group has a start state in the specified request list.

Definition at line 241 of file command_list_manager.cpp.

CommandListManager::RadiiCont pilz_trajectory_generation::CommandListManager::extractBlendRadii	(	const moveit::core::RobotModel &	model,
		const pilz_msgs::MotionSequenceRequest &	req_list
	)

staticprivate

Returns: Container of radii extracted from the specified request list.

Please note: This functions sets invalid blend radii to zero. Invalid blend radii are:

blend radii between end-effectors and
blend raddi between different groups.

Definition at line 189 of file command_list_manager.cpp.

CommandListManager::GroupNamesCont pilz_trajectory_generation::CommandListManager::getGroupNames ( const pilz_msgs::MotionSequenceRequest & req_list )

staticprivate

Returns: Returns all group names which are present in the specified request.

Definition at line 285 of file command_list_manager.cpp.

CommandListManager::RobotState_OptRef pilz_trajectory_generation::CommandListManager::getPreviousEndState	(	const MotionResponseCont &	motion_plan_responses,
		const std::string &	group_name
	)

staticprivate

Returns: The last RobotState of the specified group which can be found in the specified vector.

Definition at line 136 of file command_list_manager.cpp.

bool pilz_trajectory_generation::CommandListManager::isInvalidBlendRadii	(	const moveit::core::RobotModel &	model,
		const pilz_msgs::MotionSequenceItem &	item_A,
		const pilz_msgs::MotionSequenceItem &	item_B
	)

staticprivate

Returns

True in case of an invalid blend radii between specified command A and B, otherwise False. Invalid blend radii are:

blend radii between end-effectors and
blend raddi between different groups.

Definition at line 160 of file command_list_manager.cpp.

void pilz_trajectory_generation::CommandListManager::setStartState	(	const MotionResponseCont &	motion_plan_responses,
		const std::string &	group_name,
		moveit_msgs::RobotState &	start_state
	)

staticprivate

Set start state to end state of previous calculated trajectory from group.

Definition at line 149 of file command_list_manager.cpp.

RobotTrajCont pilz_trajectory_generation::CommandListManager::solve	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_pipeline::PlanningPipelinePtr &	planning_pipeline,
		const pilz_msgs::MotionSequenceRequest &	req_list
	)

Generates trajectories for the specified list of motion commands.

The folloing rules apply:

If two consecutive trajectories are from the same group, they are simply attached to each other, given that the blend_radius is zero.
If two consecutive trajectories are from the same group, they are blended together, given that the blend_radius is GREATER than zero.
If two consecutive trajectories are from different groups, then the second trajectory is added as new element to the result container. All following trajectories are then attached to the new trajectory element (until all requests are processed or until the next group change).

Parameters

planning_scene	The planning scene to be used for trajectory generation.
req_list	List of motion requests containing: PTP, LIN, CIRC and/or gripper commands. Please note: A request is only valid if: All blending radii are non negative. The blending radius of the last request is 0. Only the first request of each group has a start state. Non of the blending radii overlapp each other.

Please note: Starts states do not need to state the joints of all groups. It is sufficient if a start state states only the joints of the group which it belongs to. Starts states can even be incomplete. In this case default values are set for the unset joints.

Returns: Contains the calculated/generated trajectories.

Definition at line 61 of file command_list_manager.cpp.

CommandListManager::MotionResponseCont pilz_trajectory_generation::CommandListManager::solveSequenceItems	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_pipeline::PlanningPipelinePtr &	planning_pipeline,
		const pilz_msgs::MotionSequenceRequest &	req_list
	)		const

private

Solve each sequence item individually.

Parameters

planning_scene	The planning_scene to be used for trajectory generation.
req_list	Container of requests for calculation/generation.

Returns: Container of generated trajectories.

Definition at line 205 of file command_list_manager.cpp.

Member Data Documentation

moveit::core::RobotModelConstPtr pilz_trajectory_generation::CommandListManager::model_

private

Robot model.

Definition at line 197 of file command_list_manager.h.

ros::NodeHandle pilz_trajectory_generation::CommandListManager::nh_

private

Node handle.

Definition at line 194 of file command_list_manager.h.

PlanComponentsBuilder pilz_trajectory_generation::CommandListManager::plan_comp_builder_

private

Builder to construct the container containing the final trajectories.

Definition at line 201 of file command_list_manager.h.

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

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation