Base class for a MoveIt! planner. More...

#include <planning_interface.h>

Public Member Functions
virtual bool	canServiceRequest (const MotionPlanRequest &req) const =0
	Determine whether this plugin instance is able to represent this planning request. More...

virtual std::string	getDescription () const
	Get. More...

const PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the settings for a specific algorithm. More...

virtual void	getPlanningAlgorithms (std::vector< std::string > &algs) const
	Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request) More...

virtual PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const =0
	Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed. More...

PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const
	Calls the function above but ignores the error_code. More...

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

	PlannerManager ()

virtual void	setPlannerConfigurations (const PlannerConfigurationMap &pcs)
	Specify the settings to be used for specific algorithms. More...

void	terminate () const
	Request termination, if a solve() function is currently computing plans. More...

virtual	~PlannerManager ()

Protected Attributes
PlannerConfigurationMap	config_settings_
	All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used. More...

Detailed Description

Base class for a MoveIt! planner.

Definition at line 151 of file planning_interface.h.

Constructor & Destructor Documentation

planning_interface::PlannerManager::PlannerManager ( )

inline

Definition at line 154 of file planning_interface.h.

virtual planning_interface::PlannerManager::~PlannerManager ( )

inlinevirtual

Definition at line 158 of file planning_interface.h.

Member Function Documentation

virtual bool planning_interface::PlannerManager::canServiceRequest ( const MotionPlanRequest & req ) const

pure virtual

Determine whether this plugin instance is able to represent this planning request.

std::string planning_interface::PlannerManager::getDescription ( ) const

virtual

Get.

a short string that identifies the planning interface

Definition at line 99 of file planning_interface.cpp.

const PlannerConfigurationMap& planning_interface::PlannerManager::getPlannerConfigurations ( ) const

inline

Get the settings for a specific algorithm.

Definition at line 198 of file planning_interface.h.

void planning_interface::PlannerManager::getPlanningAlgorithms ( std::vector< std::string > & algs ) const

virtual

Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request)

Definition at line 111 of file planning_interface.cpp.

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

pure virtual

Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed.

Parameters

planning_scene	A const planning scene to use for planning
req	The representation of the planning request
error_code	This is where the error is set if constructing the planning context fails

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

Calls the function above but ignores the error_code.

Definition at line 104 of file planning_interface.cpp.

bool planning_interface::PlannerManager::initialize	(	const robot_model::RobotModelConstPtr &	model,
		const std::string &	ns
	)

virtual

Initialize a planner. This function will be called after the construction of the plugin, before any other call is made. It is assumed that motion plans will be computed for the robot described by model and that any exposed ROS functionality or required ROS parameters are namespaced by ns

Definition at line 94 of file planning_interface.cpp.

void planning_interface::PlannerManager::setPlannerConfigurations ( const PlannerConfigurationMap & pcs )

virtual

Specify the settings to be used for specific algorithms.

Definition at line 117 of file planning_interface.cpp.

void planning_interface::PlannerManager::terminate ( ) const

Request termination, if a solve() function is currently computing plans.

Definition at line 122 of file planning_interface.cpp.

Member Data Documentation

PlannerConfigurationMap planning_interface::PlannerManager::config_settings_

protected

All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used.

Definition at line 212 of file planning_interface.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation